Expression 12: left parenthesis, 4cos "s" minus "R" cos left parenthesis, "t" plus "s" , right parenthesis plus "r" Subscript, 1 , Baseline cos left parenthesis, "m" "p" "t" negative "c" , right parenthesis cos "t" , 2 sin "s" plus "R" sin left parenthesis, "t" plus "s" , right parenthesis plus "r" Subscript, 1 , Baseline sin left parenthesis, "n" "p" "t" minus "c" , right parenthesis cos "t" left brace, "t" less than "L" , right brace , right parenthesis4coss−Rcost+s+r1cosmpt−ccost,2sins+Rsint+s+r1sinnpt−ccostt<L
domain t Minimum: 00
less than or equal to "t" less than or equal to≤t≤