 Solution

An allowable parametrisation is a smooth homeomorphism from an open subset of ${\mathbb{R}}^2$ onto an open subset of $S$, with derivative of rank two. Away from the axis, the rotation orbit has nonzero tangent. A transverse curve supplied by the submanifold theorem, followed by the rotation action, giveswith $|v|<\pi$ and $(f^{\prime },g^{\prime })\ne (0,0)$.

For a ruled parametrisation, regularity is exactly

Rotate and translate along the axis so the specified ruling isHere $s\ne 0$ because the line is not parallel to the axis, and $c\ne 0$: if $c=0$, rotating the horizontal tangent line makes the ruled parametrisation singular at its closest point. Rotating $L$ givesa one-sheet hyperboloid. Rotation invariance puts this whole surface in $\Sigma$. Connectedness and the fact that a complete embedded hyperboloid cannot be a proper subset of another connected embedded surface force equality. Rescaling radial and axial coordinates gives a diffeomorphism with $x^2+y^2=1+z^2$.