Less formally, it is the surface swept out by moving a straight line along the curve c so that it points in the direction z(t) at each time t.
For example, the saddle surfaces z = x y and z = x^2 - y^2 are both ruled surfaces, as is the hyperboloid of one sheet, the helicoid, a cylinder and a cone.
8/12/94 dpvc@geom.umn.edu --
The Geometry Center