frenet := proc (x, t, t0) local xp, xpp, v1, v2, v3, v4; xp := diff(x,t); xpp := diff(xp,t); v1 := subs(t =

t0,xp); v2 := subs(t = t0,xpp); v3 := linalg[ linalg:-crossprod](v1,v2); v4 := linalg[linalg:-crossprod]

(v3,v1); v1 := evalm (v1/sqrt(v1[1]^2+v1[2]^2+v1[3]^2)); v3 :=
evalm(v3/sqrt(v3[1]^2+v3[2]^2+v3[3]^ 2)); v4 := evalm(v4/sqrt(v4[1]^2+v4[2]^2+v4[3]^2));
RETURN([evalm(v1), evalm( v4), evalm(v3)]) end proc;