Step 1: Define the principal planes.
In the theory of stress, principal planes are those planes where the shear stress is zero. These planes correspond to the principal stresses, which are the maximum and minimum normal stresses at a given point.
Step 2: Conclusion.
Principal planes are the planes where the shear stress is zero and the normal stresses are at their extreme values.
Final Answer:
\[
\boxed{\text{zero shear stress}}
\]