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c(t)

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c(t) = (x(t), y(t))
c(t) = (r cos t, r sin t)
~ (c(t1 ))
T
~ (c(t)) =
T
~ (c(t1 ))
N
h(t1 )
a(t1 )
c(t1 )
c0 (t)
||c0 (t)||
= (− sin t, cos t)
~ (c(t)) = (T~y (c(t)), −T~x (c(t))) = (cos t, sin t)
N
d(c(u), t0 , t) = r · (t − t0 )
h(t) = d(c(u), t0 , t) · tan α
d(c(t), t0 , t1 )
~ (c(t))
a(t) = c(t) ± h(t) · N
ax (t) = (1 ± (t − t0 ) tan α)r cos t
ay (t) = (1 ± (t − t0 ) tan α)r sin t
c(t0 )
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