Chapter 12.4, Problem 19ES

Find $\text{T}\left(t\right),\text{N}\left(t\right),\text{and}\text{B}\left(t\right)$ for the given value of t. Then find equation for the osculating, normal, and rectifying planes at the point that corresponds to that value of t.

$\text{r}\left(t\right)=\cos t\text{i}+\sin t\text{j}+\text{k;}t=\pi /4$