Expression 21: "k" equals left bracket, negative 1 , 1 , right bracketk=−1,1
2 element list
21
Expression 22: left parenthesis, StartFraction, "s" Over 2 , EndFraction plus "k" "R" plus "R" cos "t" , "R" plus "R" sin "t" , right parenthesiss2+kR+Rcost,R+Rsint
domain t Minimum: 00
less than or equal to "t" less than or equal to≤t≤
domain t Maximum: tauτ
22
Expression 23: left parenthesis, StartFraction, "s" Over 2 , EndFraction plus "R" cos "t" , "R" plus "S" Subscript, "t" "e" "p" , Baseline plus "R" sin "t" , right parenthesiss2+Rcost,R+Step+Rsint
domain t Minimum: 00
less than or equal to "t" less than or equal to≤t≤
domain t Maximum: tauτ
23
Expression 24: polygon left parenthesis, "A" , "B" , "C" , right parenthesispolygonA,B,C
24
Expression 25: polygon left parenthesis, left parenthesis, "s" , 0 , right parenthesis , left parenthesis, "s" minus "S" Subscript, "t" "e" "p" , Baseline , 0 , right parenthesis , left parenthesis, "x" Subscript, 1 , Baseline , "y" Subscript, 1 , Baseline , right parenthesis , right parenthesispolygons,0,s−Step,0,x1,y1
25
Expression 26: polygon left parenthesis, left parenthesis, "x" Subscript, 1 , Baseline , "y" Subscript, 1 , Baseline , right parenthesis , left parenthesis, "x" Subscript, 2 , Baseline , "y" Subscript, 2 , Baseline , right parenthesis , left parenthesis, "x" Subscript, 3 , Baseline , "y" Subscript, 3 , Baseline , right parenthesis , right parenthesispolygonx1,y1,x2,y2,x3,y3