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For a regular curve with positive curvature of a space curve, the Frenet-Serret formulas give $dT/ds=\kappa N$. If the unit tangent vector has constant component along a fixed vector $a$, differentiation of $T\cdot a$ gives $\kappa N\cdot a=0$. Hence every principal normal vector is perpendicular to that direction. Nonzero curvature is needed to define the principal normal.

For a continuously differentiable nonzero vector field $F$, the curvature of a space curve following its direction isTake the unit tangent vector $t=\pm F/|F|$ and differentiate with respect to arc length. The derivative of $|F{|}^{-1}$ is parallel to $F$ and disappears from $t\times t^{\prime }$. Since $t\cdot t^{\prime }=0$, we have $|t\times t^{\prime }|=|t^{\prime }|=\kappa$, proving the formula. It remains valid with zero curvature, even where the usual Frenet frame is undefined.

The filament bending modulus multiplies squared curvature of a space curve in the bending energy, $E_b=(B/2)\int {\kappa }^{2}ds$. It has dimensions force times length squared. In the small-slope Monge representation, the leading elastic force per unit length is $-B{y}_{xxxx}$.

For the unit-speed curve, the unit tangent vector, curvature of a space curve, principal normal vector and binormal vector areDifferentiating $t\cdot t=1$ gives $t\cdot {\gamma }^{\prime \prime }=0$, so $t,p,b$ form a positively oriented orthonormal basis. The hypothesis ${\gamma }^{\prime \prime }\ne 0$ makes the principal normal vector well-defined.

To determine the sign of the torsion of a space curve without relying on a pictorial handedness convention, take $R>0$, $h\ne 0$, $L=\sqrt{R^2+h^2}$ and use the unit-speed circular helixWriting $u=s/L$, direct differentiation gives its Frenet frame:ConsequentlyAt $s=0$ the marked point is $(R,0,0)$, with $t=(0,R/L,h/L)$, $p=(-1,0,0)$, $b=(0,-h/L,R/L)$ and $b^{\prime }=(h/L^2,0,0)$. For $h>0$, $b^{\prime }$ points opposite to $p$ and the torsion of a space curve is positive. Replacing $h$ by $-h$ reflects the circular helix across the horizontal plane and makes the torsion of a space curve negative; then $b^{\prime }$ points in the same direction as $p$. The direction of increasing $s$ is fixed in both panels.

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.

Divide the velocity by the speed calculated above. The unit tangent vector isIts derivative isBecause $ds/dt=\sqrt{2}(1+t^2)>0$, the principal normal vector has the direction of $T^{\prime }(t)$, givingThis is a unit vector, and $N\cdot e_z=0$ for every real $t$. The curvature of a space curve is $|T^{\prime }|/(ds/dt)=1/(1+t^2{)}^2>0$, so the principal normal vector is defined everywhere on this curve. The same perpendicularity follows from constant tangent component forces perpendicular principal normals: $T\cdot e_z=1/\sqrt{2}$ is constant, and differentiating this identity forces the normal component along $e_z$ to vanish.

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.

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.

Differentiate the unit tangent vector with $d/ds=v^{-1}d/du$ and $v^{\prime }=({\mathbf{x}}^{\prime }\cdot {\mathbf{x}}^{\prime \prime })/v$. This givesThe curvature of a space curve is $\kappa =|d\mathbf{t}/ds|$. Squaring the displayed expression and simplifying givesThe last equality is the cross product norm identity. Equivalently, the hinted vector triple product rewrites $d\mathbf{t}/ds=-{\mathbf{x}}^{\prime }\times ({\mathbf{x}}^{\prime }\times {\mathbf{x}}^{\prime \prime })/v^4$.

For an arc-length parametrization, the unit tangent vector is $t=r^{\prime }(s)$, with $|t|=1$. Its derivative is perpendicular to $t$. The curvature of a space curve is $\kappa =|t^{\prime }|$; where $\kappa >0$, its principal normal vector is $n=t^{\prime }/\kappa$, so $t^{\prime }=\kappa n$. The binormal vector $b=t\times n$ completes the positively oriented Frenet frame.

Differentiate $b\cdot b=1$ to get $b^{\prime }\cdot b=0$. AlsoThus $b^{\prime }$ has only an $n$ component. Define the torsion of a space curve by $\tau =-b^{\prime }\cdot n$, giving $b^{\prime }=-\tau n$.

Next, $n^{\prime }\cdot n=0$, and differentiating the other inner products gives $n^{\prime }\cdot t=-\kappa$ and $n^{\prime }\cdot b=\tau$. Hence the Frenet-Serret formulas areThese statements require enough smoothness, for example a $C^3$ curve with positive curvature on the interval under discussion. If $\kappa =0$, the unit tangent vector is still defined, but the standard principal normal vector, binormal vector and torsion of a space curve need not be; their existence cannot be inferred just from smoothness of the curve.

The directional derivative along the specified vector field givesUse the magnitude formula for the curvature of an integral curve of a vector field:It vanishes on the plane $z=0$ and on the $z$ axis away from the origin, consistent with straight field lines there. At the origin the vector field vanishes, so it fails the nowhere-zero hypothesis and this field-line curvature is not defined.

As an independent geometric check, an integral curve of a vector field satisfies $\dot{x}=x$, $\dot{y}=y$, $\dot{z}=-z$, giving $(x,y,z)=(a{e}^u,b{e}^u,c{e}^{-u})$. Its velocity is $(x,y,-z)$ and acceleration $(x,y,z)$; the ordinary curvature of a space curve formula $|r^{\prime }\times r^{\prime \prime }|/|r^{\prime }{|}^3$ gives the same expression.

For a unit-speed curve with nonzero curvature of a space curve $\kappa$, define the Frenet frameThe torsion of a space curve iswith this choice of convention.

For the requested example, take the unit-speed circleand the unit-speed circular helixBoth have the constant nonzero curvature $\kappa =1$, but their torsions are respectively $0$ and $1$. A proper Euclidean motion of Euclidean three-space preserves torsion, so no such rigid motion relates the two curves.

Put $T={\alpha }^{\prime }(s)$. Since $s$ is arc length, $|T|=1$, so $T^{\prime }\perp T$. The curvature of a space curve isWhere $k(s)\ne 0$, define the principal normal and binormal byand define the torsion of a space curve byThus torsion requires nonzero curvature, so that $N$ and $B$ are defined.

Differentiating the orthonormality relations for the frame $(T,N,B)$ shows that its derivative matrix is skew-symmetric. Since $T^{\prime }=kN$, differentiating $B=T\times N$ and using the definition of $\tau$ gives the Frenet-Serret formulas

The fundamental theorem of regular space curves states that smooth functions $\kappa (s)>0$ and $\tau (s)$ determine a unit-speed regular curve in ${\mathbb{R}}^3$ with that curvature and torsion, uniquely up to a proper Euclidean motion of Euclidean three-space. Existence follows by solving the Frenet-Serret formulas for an oriented orthonormal frame and then integrating its tangent vector.

Use $x>0$ as the parameter of the smooth curve:Its velocity vector and speed areThe unit tangent vector is therefore

The parameter-independent formula for the curvature of a space curve givesDifferentiating,Hence $\kappa$ increases for $0<x<1/\sqrt{2}$ and decreases for $x>1/\sqrt{2}$. Its global maximum occurs at $x=1/\sqrt{2}$ and equalsThe corresponding point is

For a unit-speed curve with positive curvature of a space curve $\kappa$, the principal normal is $N=T^{\prime }/\kappa$, with unit tangent vector $T$. It is perpendicular to $T$ and points in the direction in which the tangent is turning. At zero curvature this formula does not define $N$.