Elizabeth I dies and James VI of Scotland accedes to the English throne. Elizabeth I died childless so was succeeded by her cousin, James VI of Scotland, who henceforth assumed the title of James I of England as well.
T minus zero means out of time.. This comes from a countdown convention used in by both the American military and NASA. Generally, it is used when counting down to a major event that will happen at a specific time. Mathematically, T is time, minus whatever amount of time is left until the event happens.
where Î³ is the path traveled by the point of the arm where the measuring wheel is attached, n is the unit vector perpendicular to the arm at any moment, and t is the unit vector pointing in the direction of travel (so that, for example, if the arm is moving parallel to itself the dot product of n and t is 0).