Classification of rotational surfaces in Euclidean space satisfying a linear relation between their principal curvatures

We classify all rotational surfaces in Euclidean space whose principal curvatures $\kappa_1$ and $\kappa_2$ satisfy the linear relation $\kappa_1=a\kappa_2+b$, where $a$ and $b$ are two constants. We give a variational characterization of these surfaces in terms of its generating curve. As a consequence of our classification, we find closed (embedded and not embedded) surfaces and periodic (embedded and not embedded) surfaces with a geometric behaviour similar to Delaunay surfaces.