primarily the Torsion is what I'm having the most trouble with. Which I believe is related to kappa/curvature?

5. Consider the trajectory described by r(t) = (12t,3 cost, 3 sint) for 0 S t S 2x. a. The unit tangent vector T. b. The curvature K. C. The principal unit normal vector N. d. The unit binormal vector B. e. The torsion T