On a ships propeller shaft, the thrust will be in line with the axis of the shaft.
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An angle shaft is an enriched angle bead, with a capital, base, or both.
The nominal angle through which the step motor shaft rotates between adjacent step positions.
Acute angles at the tip and two where the edge turns back, a reflex angle where it meets the shaft.
Depending of the speed and also the technology of the cardan. Generally, you have to build with a 3° angle approximatly. The reason is to avoid to have the same needle in contact with the force. Like that, you spread the force on twice the angle installed. In industrial shaft Spicer GWB, the construction make the needles turn without rolling, thanks to a ring. I want to precise that the 3° angle is just an indicated value, not a close value (You are not obliged to build this angle with a laser alignement! If it is 3,01° or 3,2 or 3,9 OK.
If you mean find the helical angle, alpha, using the pitch, p, with a shaft of radius, R, at the root of the teeth then: alpha= arctan( p /(2R) ) Otherwise, if you mean find the helical angle while designing a gear, it is quite complicated and requires the knowledge of various parameters such as the maximal torque, speed, material, etc.