Expression 18: left parenthesis, "x" Subscript, 0 , Baseline plus "a" , "y" Subscript, 0 , Baseline plus "b" "t" , right parenthesisx0+a,y0+bt
00
domain t Minimum:
less than or equal to "t" less than or equal to≤t≤
11
domain t Maximum:
18
Expression 19: left parenthesis, "x" Subscript, 0 , Baseline plus "a" "t" , "y" Subscript, 0 , Baseline plus 0 "t" , right parenthesisx0+at,y0+0t
00
domain t Minimum:
less than or equal to "t" less than or equal to≤t≤
11
domain t Maximum:
19
Expression 20: "a" left parenthesis, "x" minus "P" Subscript, 1 , Baseline , right parenthesis plus "b" left parenthesis, "y" minus "P" Subscript, 2 , Baseline , right parenthesis equals 0ax−P1+by−P2=0
20
Expression 21: left parenthesis, left brace, 0 less than "t" less than alpha , right brace "x" Subscript, 0 , Baseline plus StartFraction, "R" Over 2 , EndFraction cos "t" , "y" Subscript, 0 , Baseline plus StartFraction, "R" Over 2 , EndFraction sin "t" , right parenthesis0<t<αx0+R2cost,y0+R2sint
domain t Minimum: 00
less than or equal to "t" less than or equal to≤t≤
domain t Maximum: tauτ
21
Expression 22: left parenthesis, left brace, 0 greater than "t" greater than alpha , right brace "x" Subscript, 0 , Baseline plus StartFraction, "R" Over 2 , EndFraction cos "t" , "y" Subscript, 0 , Baseline plus StartFraction, "R" Over 2 , EndFraction sin "t" , right parenthesis0>t>αx0+R2cost,y0+R2sint
domain t Minimum: negative tau−τ
less than or equal to "t" less than or equal to≤t≤