IJF=,dd +(I)  1Courier New1Symbol New1Courier New1Courier NewTimes New RomanTimes New Roman1Courier New1Courier New1Courier New1Courier NewR0R0R0R02?/ <```@@@?~~~~~ԱޱޱԱ޿޿ph (((Pdd{ d< p {2A80j?Hy0p)@R!쟍4@x(FwO@ ???@@@@@@033333??@^ߛOw?HzG???f <1H@rW<nQL@@?@ @@@P?@@@@@@@@@@@2??h!@$$$h!@???????\> `?      PHx}`102Pscos(w*t+d)+pcos(u*t)ssin(w*t+d)+psin(u*t)R(x,y) = (scos(w*t+d)+pcos(u*t),ssin(w*t+d)+psin(u*t)); 0.000000 <= t <= 12.566371Y R2??h!@$$$Xy@???????؄L{|an_4Eg\^FXs+P#r = s+P; 0.000000 <= t <= 6.2831902??h!@$$$Xy@???????htlupvtwxx|yzPYp< abs(s-p)(r = abs(s-p); 0.000000 <= t <= 6.2831902???$$$HnI1\@P!~%???????p]? $(,048tdz\ed00s*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???$$$HnI1\@@0lt?;6}@P!~%???????p]?P:M-14`;T_Ds*cos(wa+d)+pcos(u*a)s*sin(wa+d)+psin(u*a)9s*cos(wa+d)+pcos(u*a)- ( s*w*sin(w*a+d)+p*u*sin(u*a) )/38s*sin(wa+d)+psin(u*a)+ (s*w*cos(w*a+d)+p*u*cos(u*a) )/3seg (s*cos(wa+d)+pcos(u*a),s*sin(wa+d)+psin(u*a)) to (s*cos(wa+d)+pcos(u*a)- ( s*w*sin(w*a+d)+p*u*sin(u*a) )/3,s*sin(wa+d)+psin(u*a)+ (s*w*cos(w*a+d)+p*u*cos(u*a) )/3)2???$$$HnI1\@P!~%?ē@xsVq@??????p]?2h(dCD,,!#(ots*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!_"Ð@A ?HXT@833333@@`,k@@{٠?@h!@@@h!@@@@@@@@@@@@@@@@@h!@@h!@@@@D tD tD t The Black Vector is Position8[Rp&RZR$0C@A\B@o׸ܛ@Y̫@Times New RomanThe Blue Vector is Acceleration Scaled Down by 3(sRe5@8_9@(ù;@v+@Times New RomanAThe Green Vector is Velocity scaled down by 30Q] \@02e@%?9P@ί/@Times New RomanA is the time Parametercity scaled down by 3ZR0/بaEV1?@{՗@Times New Roman<W is the angular velocity of the inner arm`ZRU3 |`qmPjEҎ@ž@Times New RomanU is the angular velocity of the outer arm 3ZR fxi6d n@-@Times New Romant S is the radius of the inner armouter arm 3 3@ 0C`P}PEގ@6d n@Times New Roman,P is the radius of the outer armer arm 3 3[Rp&R\`Px(\Ltp;X"@~@Times New Roman4QD is the phase factorouter armter arm 3 3k X@`PP]κqH@:l.{@Times New Romanh PARAMETERSse factorter armouter arm 3 3GcH)S7$($ij@z8@Times New Roman(x,y) = (scos(w*t+d)+pcos(u*t),ssin(w*t+d)+psin(u*t)); 0.000_w@G)@1Courier New sr = s+P; 0.000000 <= t <= 6.283190 _wPk+E@*5'G@1Courier New`r = abs(s-p); 0.000000 <= t <= 6.283190 _wPk+E@*5p eu@1Courier Newseg (0,0) to (s*cos(wa+d)+pcos(u*a),s*sin(wa+d)+psin(u*a))_wx@pAwHX@1Courier Newseg (s*cos(wa+d)+pcos(u*a),s*sin(wa+d)+psin(u*a)) to (s*cos(_wx@pAw ɠ;@1Courier Newгseg (s*cos(wa+d)+pcos(u*a),s*sin(wa+d)+psin(u*a)) to (s*cos(_wЃ,E:@YU xgŝ@1Courier New