frame is a local coordinate system that may change along a space curve.
vectors are mutually orthogonal, kind of like the x
axes. However, unlike the xyz
axes, the tnb
frame changes along the space curve. The
vectors specify the plane orthogonal to t
TNB frame is also known as a Frenet
normalised and mutually orthogonal,
they are said to form an orthonormal
spanning 3D space.