\documentclass[12pt]{article}
\usepackage{amssymb,amsmath,amscd,concmath,amsfonts}
\pagestyle{empty}
\begin{document}
\begin{equation*}
  \alignedat 2 
    &\text{pitch:} &\qquad h &= \frac{f^T \tau}{\|f\|^2}; \\
    &\text{axis:} &\qquad
      l &= \begin{cases}
        \{ \frac{f\times \tau}{\|f\|^2} + \lambda f:
	  \lambda \in{\mathbb R} \}, &\text{if $f\neq0$} \\
	\{ 0 + \lambda \tau:\lambda \in {\mathbb R} \}, &\text{if $f=0$};
      \end{cases} \\
    &\text{magnitude:} &\qquad
      M &= \begin{cases}
        \|f\|, &\text{if $f\neq0$} \\
        \| \tau \|, &\text{if $f = 0$}.
      \end{cases}
  \endalignedat
\end{equation*}
\end{document}