Ivan Perez-Roman, Michael R. R. Good, Yen Chin Ong, Haret C. Rosu

We study Frenet-Serret equations for timelike worldlines in Minkowski spacetime with proper-time-dependent curvature and torsion. This corresponds to relativistic motion with non-uniform proper acceleration and, when torsion is included, to trajectories whose Frenet-Serret frame rotates beyond the acceleration plane. Using the Gram-Schmidt construction of the tetrad from the four-velocity and its derivatives, we relate the intrinsic Frenet-Serret parameters to kinematic quantities such as proper acceleration, four-jerk, and four-snap. We then consider simple analytic cases for the jerk invariant and torsion, obtaining explicit curvature profiles and reduced Frenet-Serret equations. These examples clarify how non-constant acceleration and torsion modify the geometry of accelerated relativistic motion.