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For a regular differentiable curve $\mathbf{x}(t)$, its speed is $ds/dt=|{\mathbf{x}}^{\prime }(t)|>0$, where $s$ is arc length. The oriented unit tangent vector is $\hat{\mathbf{T}}={\mathbf{x}}^{\prime }/|{\mathbf{x}}^{\prime }|$. The curvature of a space curve is $\kappa =|d\hat{\mathbf{T}}/ds|$. Equivalently, for a twice differentiable regular curve,For the helix, differentiation gives ${\mathbf{x}}^{\prime }=(-a\sin t,a\cos t,b)$ and speed $v=\sqrt{a^2+b^2}$. ConsequentlyIndeed $d\hat{\mathbf{T}}/dt=(-a\cos t,-a\sin t,0)/v$ has magnitude $|a|/v$, and division by $ds/dt=v$ gives the result. This requires $(a,b)\ne (0,0)$; the excluded constant curve has no well-defined unit tangent vector. For $a=0,b\ne 0$ the curve is a straight line with zero curvature of a space curve.

For the spherical circle, use a rotation to put the center at the north pole. Points at spherical distance $r$ have polar angle $r$ and admit the parametrizationIts speed is $|{\gamma }^{\prime }(\theta )|=\sin r$, so the arc length isFor small $r$, the Taylor series gives $C(r)=2\pi r-(\pi /3)r^3+O(r^5)$. Thus its circumference is smaller than the Euclidean circumference $2\pi r$ for the same intrinsic radius. Their ratio is $\sin r/r=1-r^2/6+O(r^4)$ and tends to one. The leading agreement expresses local Euclidean behavior; the cubic deficit reflects the positive Gaussian curvature of the unit sphere.

For fixed endpoints, the Euler-Lagrange equation is $F_y-\frac{d}{dx}{F}_{y^{\prime }}=0$. Since $F$ has no explicit dependence on $x$, differentiating givesThus $F-y^{\prime }{F}_{y^{\prime }}=C$, the Beltrami identity.

With $r^{\prime }=dr/d\theta$, the arc length element and the prescribed speed give the travel-time functionalFor the circular road $r=a$, this is $T_{\mathrm{circle}}=\pi /(2ka)$.

For the integrand $F=\sqrt{r^{\prime 2}+r^2}/r^2$, the Beltrami identity simplifies toThe candidate $r=a(\cos \theta +\sin \theta )$ has $r^{\prime 2}+r^2=2a^2$ and the required endpoints. To prove it really minimizes the travel time, rather than merely satisfies a first integral, put $u=1/r$. ThenThis is the Euclidean arc length integrand for the inverted curve $(X,Y)=(u\cos \theta ,u\sin \theta )$, whose endpoints are $(1/a,0)$ and $(0,1/a)$. Every connecting curve has length at least their Euclidean distance $\sqrt{2}/a$, by the triangle inequality. Equality is attained by the straight line segment $X+Y=1/a$. In polar form it gives $u(\cos \theta +\sin \theta )=1/a$, hence the proposed $r$. It stays strictly positive throughout the interval. ConsequentlyThis travel-time minimization with speed proportional to squared radius is globally solved by the inversion: its minimum is strictly less than $\pi /(2ka)$.

Write $c=\cos 2\varphi$, $s=\sin 2\varphi$ and $\sigma =({\sigma }_{11}+{\sigma }_{22})/2$. On the fixed yield surface, ${\xi }_{,l}=-c$ and ${\tau }_{,l}=-s$, where $l$ is stress-space arc length. Substituting ${\sigma }_{11}=\sigma +\xi$, ${\sigma }_{22}=\sigma -\xi$, ${\sigma }_{12}=\tau$ into planar force balance givesThus $\nabla \sigma =M\nabla l$, with $M=\left(\begin{array}{cc}c& s\\ s& -c\end{array}\right)$.

For a spatial curve $x(s_0)$ and a function $\mathcal{F}(\sigma ,l)$, the chain rule givesHere primes refer to the spatial parameter $s_0$, not the yield-curve parameter $l$. The displayed row-matrix product being zero is therefore sufficient for $\mathcal{F}$ to remain constant.

The eigenvectors of $M$ are $e_{\alpha }=(\cos \varphi ,\sin \varphi )$ and $e_{\beta }=(-\sin \varphi ,\cos \varphi )$, with eigenvalues $+1$ and $-1$. Along these slip lines, respectively, $d\sigma =dl$ and $d\sigma =-dl$. This proves the stress characteristics for an anisotropic yield curve:

For the velocity relations, the outward normal to the reduced yield curve is proportional to $(-\sin 2\varphi ,\cos 2\varphi )$. The associated flow rule, using the symmetric stress work pairing $D:\delta \sigma$, therefore gives a rate-of-strain tensor proportional toThe off-diagonal stress variation contributes $2D_{12}\delta {\sigma }_{12}$, which ensures this normality calculation uses the correct factor. Direct multiplication gives $e_{\alpha }^{T}D{e}_{\alpha }=e_{\beta }^{T}D{e}_{\beta }=0$: neither slip line direction extends instantaneously.

Resolve the velocity as $w=u{e}_{\alpha }+v{e}_{\beta }$. Since $d{e}_{\alpha }=e_{\beta }d\varphi$ and $d{e}_{\beta }=-e_{\alpha }d\varphi$, its longitudinal derivative along an $\alpha$ curve is $du-vd\varphi$, and along a $\beta$ curve it is $dv+ud\varphi$. Setting these extensions to zero gives the Geiringer velocity relations:

Differentiate the parametrized curve to obtain ${\mathbf{x}}^{\prime }(t)=(1-t^2,2t,1+t^2)$. Its speed obeysSince $1+t^2>0$, the arc length is

Use the arc length $s$ and the unit tangent $\mathbf{t}={\partial }_s\mathbf{r}$ of an inextensible filament. In the high-force state choose its positive longitudinal branch. The constraint givesThe extension is $z={\int }_0^L{t}_{z}ds=L-\frac{1}{2}{\int }_0^L|{\mathbf{t}}_{\perp }{|}^{2}ds+\cdots$. The curvature of a space curve obeys ${\kappa }^2=|{\partial }_s\mathbf{t}{|}^2$. Since ${\partial }_s{t}_z=-{\mathbf{t}}_{\perp }\cdot {\partial }_s{\mathbf{t}}_{\perp }+\cdots$ is second order in small fluctuations, its squared contribution is fourth order. Thus the worm-like chain energy through quadratic order isPositive force suppresses transverse orientation fluctuations, while the filament bending modulus penalizes their spatial variation.

To apply the equipartition theorem without missing either component or a mode-counting factor, expand each component in a real orthonormal basis of eigenfunctions of $-{\partial }_s^2$, $t_{\alpha }(s)={\sum }_q{a}_{\alpha q}{w}_q(s)$, with $\int w_q{w}_{q^{\prime }}ds={\delta }_{q{q}^{\prime }}$ and $\alpha =x,y$. The quadratic energy is $\frac{1}{2}{\sum }_{\alpha ,q}(A{q}^2+f)a_{\alpha q}^2$. Each real quadratic degree of freedom contributes $k_{B}T/2$, soFor a chain long compared with the force-dependent correlation length, the interior is translation invariant and the mode sum per length becomes $\int dq/(2\pi )$. Equivalently, for the Fourier transform ${\tilde{t}}_{\alpha }(q)=\int e^{-iqs}{t}_{\alpha }(s)ds$,The negative and positive wavenumbers here represent the real-field mode count consistently, rather than two independent complex modes. Summing both transverse components gives the high-force worm-like chain elasticitywhere the integral follows by setting $q=\sqrt{f/A}u$ and using ${\int }_{-\infty }^{\infty }(1+u^2{)}^{-1}du=\pi$. ThereforeHere $L_p$ is the three-dimensional zero-force persistence length. The result requires $f{L}_p\gg k_{B}T$, negligible backbone stretching, and a long-chain bulk approximation. It does not describe the eventual bond-stretching regime. For a continuum polymer description, the force-dependent length should also exceed the microscopic cutoff.

For comparison, a three-dimensional freely jointed chain has contour length $L=Nb$ and independent link orientations. At force $f$, a link of polar angle $\vartheta$ has Boltzmann factor $e^{x\cos \vartheta }$ with $x=fb/(k_{B}T)$. Its angular canonical partition function isThe total canonical partition function is $Z_1^N$. Differentiating with respect to force gives the force-extension of a three-dimensional freely jointed chain:ConsequentlyThe extension deficits scale as $f^{-1}$ and $f^{-1/2}$ respectively. Inverting them gives force divergences proportional to the first and second inverse powers of the deficit. Freely jointed link rotations cost no bending energy; the worm-like chain instead has a continuum of coupled bending modes whose contributing wavelengths change with force. Setting a long-wavelength coarse-grained link length $b=2L_p$ can match weak-force statistics, but does not make these high-force laws identical.

For the transverse tangent correlation of a stretched worm-like chain, use a separation $r$ consistently: the source writes $C(y)$ but integrates a separation denoted $r$. In the translation-invariant bulk the spatial average is redundant andTo evaluate the integral without an assumed decay law, let $G(r)$ be the inverse Fourier transform of $(A{q}^2+f{)}^{-1}$. Then $(-A{\partial }_r^2+f)G=\delta (r)$. Away from zero, decay at both infinities requires $G=B{e}^{-|r|/\xi }$ with $\xi =\sqrt{A/f}$. Integrating across zero yields $-A[G^{\prime }(0^{+})-G^{\prime }(0^{-})]=1$, so $B=1/(2\sqrt{Af})$. ThusAt $r=0$ this agrees with the two-component equipartition theorem calculation. The correlation length decreases with force and is distinct from the zero-force persistence length. The full tangent correlation has a nonzero aligned background; the exponentially decaying quantity here is specifically the transverse correlation.

For a finite open chain, the source's integral samples $s+r$ beyond $L$ and supplies no endpoint tangent conditions. An exact finite-length correlation is therefore not uniquely specified. The result above is the intended bulk form when $L\gg \xi$. As one explicit finite convention, periodically extending the tangent fluctuations gives the periodic finite-length tangent correlation of a stretched worm-like chainwhere $d_L(r)$ is the distance from zero around the periodic interval. Then $C_L(0)=(k_{B}T/\sqrt{Af})\coth [L/(2\xi )]$, and the extension formula acquires this same finite-length factor. The bulk law is recovered as $L/\xi \to \infty$. This makes the endpoint assumption explicit rather than claiming an unspecified finite-chain correlation is exactly translationally invariant.

In polar coordinates, the curve is the logarithmic spiral $r=a{e}^{bu}$, $\theta =u$. It starts at $(a,0)$ and winds counterclockwise outwards through one and a half turns. It crosses the horizontal axis atThe following original sketch uses representative positive values; changing $a$ rescales it and changing $b$ changes its rate of expansion.

Differentiate the coordinates:Hence $ds/du=\sqrt{(x^{\prime }{)}^2+(y^{\prime }{)}^2}=a{e}^{bu}\sqrt{1+b^2}$. Integrating the arc length element gives, for $U\ge 0$,For a negative endpoint parameter the length between $U$ and zero uses the absolute value of the final factor.

A second differentiation givesThe numerator is positive, so the absolute value in the PDF's curvature of a plane curve formula leaves it unchanged. ConsequentlyThe speed is $1/\kappa$, and therefore $dt=ds/v=\kappa ds=du$. Thus the requested elapsed time isThis travel time at reciprocal-curvature speed is independent of $n$ because the growing arc length per unit angle is exactly matched by the growing speed.

Introduce a constant filament bending modulus $B$, which sets the mechanical force scale. The filament has intrinsic curvature of an elastic filament ${\kappa }_0(s)$, and its actual signed curvature in a small-slope Monge representation is $\kappa \simeq {\zeta }_{xx}$. To quadratic order one may identify material arc length $s$ with $x$ in ${\kappa }_0$, whileAt fixed positive extension force, the mechanical potential is bending energy minus $FL$. Replacing $L$ by $\mathcal{L}-(\mathcal{L}-L)$ leaves, up to a force-dependent constant,Its first variation isThe higher-order Euler-Lagrange equation is thereforeFor a Fourier transform relation, take a periodic bulk segment, or a long-filament bulk approximation with negligible endpoint contributions; these are necessary boundary conditions because the question specifies no filament end conditions. Using $f(x)=\int \hat{f}(q)e^{iqx}dq/(2\pi )$, every nonzero wavenumber obeysA zero displacement mode is an arbitrary translation. In a periodic representation a constant intrinsic-curvature mode contributes a constant bending cost but no bulk slope, so it does not contribute to the following deficit. The Parseval identity givesFor clarity about finite normalization, on a periodic interval of length $L$ define ${\kappa }_n=L^{-1}{\int }_0^L{\kappa }_0(x)e^{-i{q}_{n}x}dx$, $q_n=2\pi n/L$. Then the equivalent exact quadratic-order formula isThis is force-extension of an intrinsically curved filament, determined by its particular fixed shape rather than by a thermal orientation entropy.

For an ensemble with quenched intrinsic curvature, first minimize each realization and then average the last expression, replacing $|{\kappa }_n{|}^2$ by its ensemble mean. For stationary bulk disorder, let $S_{\kappa }(q)$ be the power spectrum, normalized so that its correlation is $⟨{\kappa }_0(x){\kappa }_0(x+r)⟩=\int S_{\kappa }(q)e^{iqr}dq/(2\pi )$. The measurable mean deficit per unit projected length isIf the curvature is smooth enough that the second spectral moment is finite, one can take the large-force limit under this integral, obtaining the smooth-curvature high-force extension lawFor a stationary ensemble the integral is $L⟨({\kappa }_{0,x}{)}^2⟩$. Equivalently, the bulk slope is ${\zeta }_x\simeq -(B/F){\kappa }_{0,x}$; a plot of the mean deficit against $F^{-2}$ measures the mean squared intrinsic-curvature gradient, if $B$ is known. The $F^{-2}$ law is a smooth-curvature bulk result, not a universal law for every random filament. For example, ideal white intrinsic-curvature disorder with $S_{\kappa }(q)=S_0$ has an infinite second spectral moment; retaining the full integral instead gives $⟨\mathcal{L}-L⟩/L=S_0\sqrt{B}/(8\sqrt{F})$ in that ideal continuum model.

Endpoint conditions also matter. If each end is moment-free and has no transverse applied force, the natural conditions from the variation areat each end. These can produce a free-end curvature boundary layer of width $\ell =\sqrt{B/F}$. For a constant intrinsic filament curvature $\kappa$, integration of the higher-order Euler-Lagrange equation with zero transverse force gives $B({\zeta }_x{)}_{xx}-F{\zeta }_x=0$ and henceThe last formula follows by integrating ${\sinh }^2[(x-L/2)/\ell ]$, and tends to ${\kappa }^2{\ell }^3/2\propto F^{-3/2}$, despite the vanishing bulk curvature gradient. Thus a finite free-ended measurement must include or suppress endpoint bending before interpreting a bulk $F^{-2}$ fit.

For the freely jointed chain, rigid links have independent orientations, so the restoring force is entropic. Let $T$ now denote absolute temperature, and $\beta =1/(k_{B}T)$ with Boltzmann constant $k_B$. In the usual three-dimensional chain, a segment at polar angle $\theta$ has force energy $-Fb\cos \theta$. Its angular canonical partition function and the full chain partition function areDifferentiating $\log Z_N$ with respect to $\beta F$ yields the exact mean projected displacementHere $\mathcal{L}$ is the Langevin function; this is force-extension of a three-dimensional freely jointed chain, in the fixed-force canonical ensemble. At high extension, $\coth \xi =1+2e^{-2\xi }+\cdots$, soThus the smooth quenched-curvature bulk deficit falls as $F^{-2}$, whereas the three-dimensional freely jointed chain deficit falls as $F^{-1}$ and depends explicitly on temperature. The distinction is mechanical straightening of a fixed intrinsic shape versus orientational entropy; thermal bending fluctuations of a stiff filament have not been included in the first calculation.

If the comparison chain is also restricted to two dimensions, it is a planar freely jointed chain rather than the three-dimensional model. In this case,The last identity follows directly by differentiating the integral defining $I_0$; $I_0$ and $I_1$ are Modified Bessel functions of the first kind. At large $\xi$ the angular weight is proportional to $e^{-\xi {\theta }^2/2}$, giving $⟨\cos \theta ⟩\simeq 1-⟨{\theta }^2⟩/2=1-1/(2\xi )$. Consequently $Nb-⟨L⟩\sim N{k}_{B}T/(2F)$: the same inverse-force exponent, with half the three-dimensional coefficient. Both versions assume inextensible links and forces below the regime where the links themselves stretch.

For a regular simple closed plane curve of length $L$ enclosing area $A$, the planar isoperimetric inequality is $L^2\ge 4\pi A$, with equality precisely for a circle.

The periodic Wirtinger inequality states that an absolutely continuous $L$-periodic function $h$ of mean zero with square-integrable derivative satisfieswith equality only for a linear combination of $\sin (2\pi s/L)$ and $\cos (2\pi s/L)$. Parametrize the curve by arc length and translate its position vector $r=(x,y)$ so that both coordinate means vanish. Then $\int |r{|}^2\le L^3/(4{\pi }^2)$, since $|r^{\prime }|=1$. Green's theorem and the Cauchy-Schwarz inequality giveEquality requires a first-harmonic parametrization and equality in Cauchy-Schwarz; its radius vector is a constant multiple of the rotated unit tangent. It is therefore a circle. Conversely, a circle attains equality.

Use the arc length coordinate oriented in the direction of increasing $t$: $s(t)={\int }_0^{t}2e^{\tau }d\tau =2(e^t-1)$, with $s>-2$. Also ${\mathbf{r}}^{\prime \prime }=e^t(\sqrt{2},-2\cos t,-2\sin t)$, giving $|{\mathbf{r}}^{\prime \prime }{|}^2=6e^{2t}$ and ${\mathbf{r}}^{\prime }\cdot {\mathbf{r}}^{\prime \prime }=4e^{2t}$. The Lagrange identity for the cross product yieldsThe curvature of a space curve is thereforeFor the forward portion $t\ge 0$, this has ordinary nonnegative arc length $s\ge 0$. If instead nonnegative distance is measured backwards from $t=0$, put $s_b=2(1-e^t)$ for $t\le 0$; that branch has $\kappa =1/[\sqrt{2}(2-s_b)]$, $0\le s_b<2$. Choosing orientation avoids confusing the two points at the same unoriented distance.

Differentiation gives ${\mathbf{r}}^{\prime }=e^t(\sqrt{2},-\sin t-\cos t,\cos t-\sin t)$. The squared speed is $4e^{2t}$, so the arc length isThe speed never vanishes, so this is a regular curve throughout its parameter range.

For the Hurwitz proof of the planar isoperimetric inequality, take a positively oriented regular simple closed curve of length $L$ and enclosed area $A$. Write its complex position as $z(t)=x(t)+iy(t)$, with $0\le t\le 2\pi$ proportional to arc length. Then $|z^{\prime }(t)|=L/(2\pi )$. Translate the curve to make its mean position zero, and write its Fourier coefficients as $c_n$, with $c_0=0$.

Green's theorem gives the signed area, and Parseval's identity computes it:Periodic integration by parts and Parseval's identity applied to $z^{\prime }$ giveSince $n\le n^2$ for every integer $n$,The sums converge absolutely: $\sum |n||c_n{|}^2\le (\sum |c_n{|}^2{)}^{1/2}(\sum n^2|c_n{|}^2{)}^{1/2}$. Equality forces $c_n=0$ unless $n=0$ or $1$; after the mean translation, $z(t)=c_1{e}^{it}$ is a circle. Conversely a circle attains equality. Thus circles uniquely attain equality, up to translation and orientation.

The same proof applies to a rectifiable simple closed curve using its Lipschitz arc length parametrization. Its derivative exists almost everywhere and belongs to $L^2$; periodic mollification converges to the curve in the function and derivative $L^2$ norms. This justifies the derivative coefficient identity, Parseval's identity and area integral by approximation. Reversing orientation, if necessary, makes the enclosed area positive. The printed name “Hurewitz” is read as Hurwitz.

For a regular curve parametrized by $u$, put $v(u)=|{\mathbf{x}}^{\prime }(u)|>0$ and orient arc length in the direction of increasing $u$. Since $ds=|d\mathbf{x}|=vdu$, the unit tangent vector isRegularity is the condition that permits division by $v$.

Choose local coordinates $y^1,\dots ,y^{D-1}$ on the hypersurface $\Sigma$, and let ${\Phi }_s$ be the local flow of the vector field $X$. The map $F(s,y)={\Phi }_s(p(y))$ follows the integral curves of a vector field starting at $p(y)\in \Sigma$. At $s=0$, its differential maps the $s$ direction to $X$ and the remaining directions to a basis of $T_p\Sigma$. Transversality makes these vectors linearly independent, so the inverse function theorem makes $F$ a local manifold chart.

Set $x^0=s$ and transport the $y^i$ unchanged along each integral curve of a vector field. Then the adapted coordinates satisfyThe flow-box theorem gives this construction locally. The parameter is the flow parameter, and need not be arc length; a global manifold chart would require additional hypotheses.

Lift the angular coordinate continuously to a real coordinate and write $\Delta z=z_B-z_A$ and $\Delta {\varphi }_m={\varphi }_B-{\varphi }_A+2\pi m$ for a prescribed winding number $m\in \mathbb{Z}$. Assume $z_A<z_B$ for the calculation; reversing the endpoints changes no length. The arc length functional on the circular cylinder isThe Euler-Lagrange equation says $R^2{\varphi }^{\prime }/\sqrt{1+R^2{\varphi }^{\prime 2}}$ is constant. This expression is strictly increasing in ${\varphi }^{\prime }$, so ${\varphi }^{\prime }$ is constant. The candidate is the helixIt is a global minimum within the chosen winding class: the integrand is strictly convex, and Jensen inequality bounds the functional below by $(z_B-z_A)\sqrt{1+R^2(\Delta {\varphi }_m/\Delta z{)}^2}$, with equality only for constant slope. Equivalently, unrolling the cylinder makes the minimizing path a straight segment.

The signed pitch of a helix, measured for an increase of $2\pi$ in angle, isIts geometric magnitude is $|P_m|$. If only the physical endpoints are fixed, choose the integer $m$ minimizing $|\Delta {\varphi }_m|$; opposite points may give two equally short helices. If the lifted endpoint angles are prescribed, use that winding class. A zero angular increment gives a straight generator, the limiting infinite-pitch case.

Let $F=|\mathbf{F}|>0$ and choose an orientation of a regular curve following the vector field. Its unit tangent vector is $t=\sigma \mathbf{F}/F$, where $\sigma =\pm 1$ is constant along a connected regular segment. Arc length differentiation along that curve is $d/ds=(\sigma \mathbf{F}/F)\cdot \nabla$. ThereforeTaking the cross product with $t$ removes the term parallel to $\mathbf{F}$:Where the Frenet frame exists, $t\times t^{\prime }=\kappa (t\times n)=\kappa b$. ThusThe printed sign corresponds to orientation along or against the field. Taking magnitudes gives the orientation-independent curvature of an integral curve of a vector field, $\kappa =|\mathbf{F}\times (\mathbf{F}\cdot \nabla )\mathbf{F}|/F^3$. This scalar formula also applies at zero curvature, where $b$ itself may be undefined.

Assume the holonomic constraints have linearly independent gradients, so their common level set is locally a smooth constraint manifold parametrized by $q_1,\dots ,q_n$. The multiplier form of the Euler-Lagrange equations isAt fixed time ${\sum }_A{\partial }_A{f}_{\alpha }{\partial }_i{x}_A=0$. The chain rule for the reduced Lagrangian givesConversely, if these reduced equations hold, the Cartesian Euler-Lagrange residual annihilates every tangent direction. Linear independence of the constraint gradients implies that it is a linear combination of those gradients, giving the required Lagrange multipliers. This proves the local equivalence, including time-dependent constraints; singular constraints would need separate analysis.

For the bead, $\dot{y}=f^{\prime }(x)\dot{x}$, soThe autonomous conservation of energy gives $E=\frac{1}{2}(1+f^{\prime 2}){\dot{x}}^2$. If $E>0$, the motion has a fixed sign $s=\mathrm{sgn}\dot{x}$ andThe integral is the signed arc length divided by the constant speed, and is locally invertible. The special solution $E=0$ is a stationary bead, for which writing time as a function of its unchanging position is not meaningful.

For a regular parameter $t$, the curvature and torsion of a space curve areThe torsion of a space curve requires $\kappa \ne 0$. Reparameterize by arc length $s$ and set $T={\alpha }_s$, $N=T_s/\kappa$, $B=T\times N$. Differentiating the pairwise inner products of this orthonormal Frenet frame shows that its derivative matrix is skew symmetric. Since $T_s=\kappa N$, defining $\tau =N_s\cdot B$ gives the Frenet-Serret formulasThe fundamental theorem of regular space curves says that prescribed smooth $\kappa >0$ and smooth $\tau$ on an interval determine a unit-speed curve uniquely up to an orientation-preserving Euclidean rigid motion. Solve this frame's linear differential equation with an initial oriented orthonormal frame, then integrate ${\alpha }_s=T$; uniqueness proves the assertion.