3. (24 pts) A particle has a position of r(1) = 6 cos 2ti + 6 sin 2tj + 3tk. (a) Find the unit tangent vector T(t) (b) Find the principal unit normal vector N(t). (c) Find the unit binormal vector B(t). (d) Find the tangential and normal components of acceleration, aT and an. (e) Interpret the tangential and normal components of acceleration you calculated in (d). Describe the motion of the particle in words. (f) Find the curvature at time t