Rotate R and Q counter counter-closewise using the angle s.
9
Expression 10: left parenthesis, "R" . "x" cos left parenthesis, "s" , right parenthesis minus "R" . "y" sin left parenthesis, "s" , right parenthesis , "R" . "x" sin left parenthesis, "s" , right parenthesis plus "R" . "y" cos left parenthesis, "s" , right parenthesis , right parenthesisR.xcoss−R.ysins,R.xsins+R.ycoss
10
Expression 11: "U" equals left parenthesis, "Q" . "x" cos left parenthesis, "s" , right parenthesis minus "Q" . "y" sin left parenthesis, "s" , right parenthesis , "Q" . "x" sin left parenthesis, "s" , right parenthesis plus "Q" . "y" cos left parenthesis, "s" , right parenthesis , right parenthesisU=Q.xcoss−Q.ysins,Q.xsins+Q.ycoss
11
If you want to include circles, Create the distance from P to Q
12
Expression 13: "r" Subscript, "a" "d" , Baseline equals StartRoot, left parenthesis, left parenthesis, "P" . "x" minus "Q" . "x" , right parenthesis squared plus left parenthesis, "P" . "y" minus "Q" . "y" , right parenthesis squared , right parenthesis , EndRootrad=P.x−Q.x2+P.y−Q.y2
13
Now create the circles for the rotating and non-rotating frame
14
Expression 15: left parenthesis, "r" Subscript, "a" "d" , Baseline cos left parenthesis, "t" , right parenthesis plus "U" . "x" , "r" Subscript, "a" "d" , Baseline sin left parenthesis, "t" , right parenthesis plus "U" . "y" , right parenthesisradcost+U.x,radsint+U.y
15
Expression 16: left parenthesis, "r" Subscript, "a" "d" , Baseline cos left parenthesis, "t" , right parenthesis plus "Q" . "x" , "r" Subscript, "a" "d" , Baseline sin left parenthesis, "t" , right parenthesis plus "Q" . "y" , right parenthesisradcost+Q.x,radsint+Q.y
16
Expression 17: "r" Subscript, "Q" , Baseline equals StartRoot, left parenthesis, "Q" . "x" squared plus "Q" . "y" squared , right parenthesis , EndRootrQ=Q.x2+Q.y2