I7==,dd +(I)   1Courier NewTimes New Roman1Courier New1Courier NewTimes New RomanTimes New Roman1Courier New1Courier New1Courier New1Courier NewX&VLX&VLX&VLX&VL2?/ <```@@@?~~~~~ԱޱޱԱ޿޿ph (((Pdd{ d< p {2 je?؂6?sA@4!ʉ}h@ wt|S-@ ???@@@@@@033333??@^ߛOw?HzG???tIc@``VL@@?@ @@@``?P;Z``@@@@@@@@@@dddddddddddddddddddddddddddddddddddddddd 2??h!@$$$6@???????h$h*h0tg(gxh4\$g4p]&Hcd(escos(w*t+d)+pcos(u*t)ssin(w*t+d)+psin(u*t)R(x,y) = (scos(w*t+d)+pcos(u*t),ssin(w*t+d)+psin(u*t)); 0.000000 <= t <= 12.5663710.00000;12.56637Y R2??h!@$$$Uy@???????hhhhp!i$(iLLi58pB6д{hHaas+P#r = s+P; 0.000000 <= t <= 6.2831900.00000;6.283192??h!@$$$Uy@???????0RixWit ִ״^|ش`ٴ( abs(s-p)(r = abs(s-p); 0.000000 <= t <= 6.2831900.00000;6.283192???$$$Q|)hT??????<_f!?8l;(CH"P!((b0-^8/^/^00s*cos(wa+d)+pcos(u*a)s*sin(wa+d)+psin(u*a);seg (0,0) to (s*cos(wa+d)+pcos(u*a),s*sin(wa+d)+psin(u*a))2???$$$-t,hTQ|)^Z ??????<_f!?i""0ud*@nb(hb(L>(!(s*cos(wa+d)+pcos(u*a)s*sin(wa+d)+psin(u*a)9s*cos(wa+d)+pcos(u*a)- ( s*w*sin(w*a+d)+p*u*sin(u*a) )/38s*sin(wa+d)+psin(u*a)+ (s*w*cos(w*a+d)+p*u*cos(u*a) )/3seg (s*cos(wa+d)+pcos(u*a),s*sin(wa+d)+psin(u*a)) to (s*cos(wa+d)+pcos(u*a)- ( s*w*sin(w*a+d)+p*u*sin(u*a) )/3,s*sin(wa+d)+psin(u*a)+ (s*w*cos(w*a+d)+p*u*cos(u*a) )/3)2???$$$p+ x`Q|)hT??????<_f!?2nܢlHl(N`L(T`y`<[`s*cos(wa+d)+pcos(u*a)s*sin(wa+d)+psin(u*a)=s*cos(wa+d)+pcos(u*a)- ( s*w*w*cos(w*a+d)+p*u*u*cos(u*a) )/3<s*sin(wa+d)+psin(u*a)- (s*w*w*sin(w*a+d)+p*u*u*sin(u*a) )/3seg (s*cos(wa+d)+pcos(u*a),s*sin(wa+d)+psin(u*a)) to (s*cos(wa+d)+pcos(u*a)- ( s*w*w*cos(w*a+d)+p*u*u*cos(u*a) )/3,s*sin(wa+d)+psin(u*a)- (s*w*w*sin(w*a+d)+p*u*u*sin(u*a) )/3)xyzh!h!mYܸ@?HXT@3333333@@L,k@?@h!@@@h!@@@@@@@@@@@@@@@@@h!@@h!@@@@ @ @ @ The Black Vector is Position8[Rp&RZRPyBzZ9 @}8@Times New RomandThe Blue Vector is Acceleration Scaled Down by 3(sRPyByIrak{A@Q'>#@Times New RomaneThe Green Vector is Velocity scaled down by 30Q]!ۇR {6s@EUn*@Times New RomanPfA is the time Parametercity scaled down by 3ZREv#6ϘHsmxTimes New RomangW is the angular velocity of the inner arm`ZRKKNumxޘzW A%iI,8Times New RomangU is the angular velocity of the outer arm 3ZR!ۇ`[? wtn{QTimes New RomanxhS is the radius of the inner armouter arm 3 3@ 0CKKNuCU|1p;%BAFجTimes New Roman0iP is the radius of the outer armer arm 3 3[Rp&R\!ۇ;8ᙩoMPTԉƵTimes New RomaniD is the phase factorouter armter arm 3 3k X@KKNuM8W_gfb;Times New Romanj PARAMETERSse factorter armouter arm 3 3GcB9rx{F@z8@Times New Romanta PARAMETERS3X3Xerr armouter arm 3 3V Z %J骀gXz/AoUSTimes New Roman(x,y) = (scos(w*t+d)+pcos(u*t),ssin(w*t+d)+psin(u*t)); 0.000'0 @P#w@1Courier New ar = s+P; 0.000000 <= t <= 6.283190'0 Pk+E@*5h$@@1Courier New ar = abs(s-p); 0.000000 <= t <= 6.283190'0 Pk+E@*5ܞT@1Courier New Taseg (0,0) to (s*cos(wa+d)+pcos(u*a),s*sin(wa+d)+psin(u*a))'0 x@pAw}[bЊ@1Courier New aseg (s*cos(wa+d)+pcos(u*a),s*sin(wa+d)+psin(u*a)) to (s*cos('0 x@pAw(]n1@1Courier New ęaseg (s*cos(wa+d)+pcos(u*a),s*sin(wa+d)+psin(u*a)) to (s*cos('0 Ѓ,E:@YU#M_8@1Courier New @@@h!@