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The Euclideanmoving frame: the velocity and acceleration constitute the directions of a Cartesian coordinate system {t, n} (the tangent and the normal to it) at each point x(s) on a curve which is parameterized by arc-length s. The frame can be thought to be rotating along the curve relative to a fixed system {e1, e2} as the curve evolves. The angle between t and e1 is θ(s)
