Sadly I did not scan in my paper notes for this class, so all I have is this small cheatsheet.

# Vector Property Equations

• $a_T=\frac{{\overrightarrow{r}}^{\prime }\cdot {\overrightarrow{r}}^{″}}{||{\overrightarrow{r}}^{\prime }||}$
• $a_N=\frac{||{\overrightarrow{r}}^{\prime }\times {\overrightarrow{r}}^{″}||}{||{\overrightarrow{r}}^{\prime }||}$
• $K=\frac{||{\overrightarrow{r}}^{\prime }\times {\overrightarrow{r}}^{″}||}{||{\overrightarrow{r}}^{\prime }|{|}^3}$
• $\hat{T}=\frac{{\overrightarrow{r}}^{\prime }}{||{\overrightarrow{r}}^{\prime }||}$
• $\hat{B}=\frac{{\overrightarrow{r}}^{\prime }\times {\overrightarrow{r}}^{″}}{||{\overrightarrow{r}}^{\prime }\times {\overrightarrow{r}}^{″}||}$
• $\hat{N}=\hat{B}\times \hat{T}$