where r = s(u) is the space curve and L(u) is the unit vector of the ruling at u = u. All the vectors L(u) are parallel to the same plane, called the directrix plane of the surface. This can be characterized by the condition: the mixed product [L(u), L' (u), L" (u)] = 0.[1]
A. Gray, E. Abbena, S. Salamon, Modern differential geometry of curves and surfaces with Mathematica, 3rd ed. Boca Raton, Florida:CRC Press, 2006. [3] (ISBN978-1-58488-448-4)