Tangential and normal acceleration ($a=\dot{v}T+\kappa v^{2}N$)

For a twice continuously differentiable regular curve describing motion, let $v=\Vert r^{\prime }(t)\Vert >0$, $T=r^{\prime }/v$, and let $N$ be the principal normal vector where the curvature $\kappa$ is positive. Differentiating the velocity vector $r^{\prime }=vT$ givesThe tangential component changes the speed; the normal component changes the direction of the velocity vector. A particle can therefore have nonzero acceleration at constant speed, as in circular motion with constant speed. The formula follows from $dT/dt=(dT/ds)(ds/dt)=\kappa vN$ and the product rule. When $\kappa =0$, the normal contribution vanishes even though the principal normal vector is undefined there. ^[ref]

In dimensionless coordinates, take $r(t)=(t,t^2)$. At $t=1$,The resulting vector components areBoth increasing speed and turning contribute to the same acceleration.