Avoiding unnecessary computations within loops

Consider the following data:

test = RandomReal[{1, 2}, {10, 5, 3, 3}];

How can I do the following without the For loops, e.g. using Table or similar Mathematica functions?

Module[{res = {}}, 
  For[i = 1, i < 11, i++,
    For[j = 1, j < 6, j++, 
      p = test[[i, j, 1]];
      q = test[[i, j, 2]];
      r = Cross[p,q];
      mat = Orthogonalize[{p, q, r}];
      For[k = 1, k < 6, k++,
        AppendTo[res, mat.SeparationVector[p, test[[i, k, 1]], 2]]]]];
  res]

where

SeparationVector[x_, y_, z_] := If[# < z/2, x - y, Sequence @@ {}]& @
  Sqrt[Total[((x - y) - z*Round[(x - y)/z])^2]]

My Problem with using Table is that between the j and k indices, I define variables that depend on j so that I don't have to calculate these values for every iteration of k. I don't know how to achieve the same functionality without the For loops. But this is Mathematica, and I know there are better and faster ways to do this. Any ideas?