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I've been able to derive the centripetal & transverse accelerations, and I understand how the radius of curvature is the reciprocal of the curvature, and that to get the radial & Coriolis acceleration, I need to get the time derivatives of the radius of curvature, but I don't see exactly how they come out. I also understand how to derive these in a rotating reference frame, but it seems that somehow they should also come out of the Frénet–Serret analysis. Or maybe I am wrong on this?

*** EDIT: I think I see the problem I am having, but any advice would still be welcome.

*** EDIT: I think I see the problem I am having, but any advice would still be welcome.

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