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Frames of reference attached to a semi-flexible macromolecular chain. (XpYpZp) represents the frame of reference at the proximal end, (XsYsZs) represents the frame of reference at arclength s, and (XdYdZd) represents the frame of reference at the distal end. In the plot, X axes are not displayed but can be derived from Y and Z axes following the right-hand rule.
