Figure 29 
\(\mathbf{a}(t)=v^{\prime} (t)\mathbf{T}(t)+ [ v(t)]^{2}\kappa \mathbf{N}(t)\)
\(\mathbf{a}(t)=v^{\prime} (t)\mathbf{T}(t)+ [ v(t)]^{2}\kappa \mathbf{N}(t)\) \(\mathbf{a}(t)=v^{\prime} (t)\mathbf{T}(t)+ [ v(t)]^{2}\kappa \mathbf{N}(t)\)