Plot a curve in 3D with Sympy

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How to plot the following 3D curve (as an example) using Sympy? I know just create an array for t and do this in Matplotlib, but I don't really want to plot this curve, rather to learn how to define and plot curves symbolically.

alpha(t) = (cos(t), sin(t), t)

from sympy import *

t = symbols('t')
alpha = [cos(t), sin(t), t]

# now what?

I have tried using the plot method in various ways but this has only resulted in either three separate 1D curves, or an error.

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