We get stuck on this homework problem:
Prove that if the principal curvatures of a surface $M \subset \mathbb{R}^{3}$ are constant, then $M$ is either part of a plane, a sphere, or a circular cylinder. In the case $k_{1} \neq k_{2}$ assume that there is a principal frame field on all of $M .$ Show that the $k_{1}$ -curves are parallel lines and that the $k_{2}$ -curves are circles.
We have finished proving the first part of the hint that $k_1$-curves are parallel lines, but we could not find a good way to prove $k_2$-curves are circles.