For a particle with position vector r(t) and velocity v(t)=r′(t), which of the following conditions must hold on an interval if and only if the particle moves with constant speed on that interval?
a) v′(t)=0
b) ∣v(t)∣2=0
c) dtd(∣v(t)∣2)=0
d) r(t)⋅v(t)=0