Let \(\alpha: I \rightarrow R^{3}\) be a parametrized regular curve (not
necessarily by arc length) with \(k(t) \neq 0, \tau(t) \neq 0, t \in I\). The
curve \(\alpha\) is called a Bertrand curve if there exists a curve
\(\bar{\alpha}: I \rightarrow R^{3}\) such that the normal lines of \(\alpha\) and
\(\bar{\alpha}\) at \(t \in I\) are equal. In this case, \(\bar{\alpha}\) is called
a Bertrand mate of \(\alpha\), and we can write
$$
\bar{\alpha}(t)=\alpha(t)+r n(t)
$$
Prove that
a. \(r\) is constant.
b. \(\alpha\) is a Bertrand curve if and only if there exists a linear relation
$$
A k(t)+B \tau(t)=1, \quad t \in I,
$$
where \(A, B\) are nonzero constants and \(k\) and \(\tau\) are the curvature and
torsion of \(\alpha\), respectively.
c. If \(\alpha\) has more than one Bertrand mate, it has infinitely many
Bertrand mates. This case occurs if and only if \(\alpha\) is a circular helix.