0 0 m -1 0.333 l -1 -0.333 l h 0 0 m -1 0.333 l -1 -0.333 l h 0 0 m -1 0.333 l -0.8 0 l -1 -0.333 l h 0 0 m -1 0.333 l -0.8 0 l -1 -0.333 l h 0.6 0 0 0.6 0 0 e 0.4 0 0 0.4 0 0 e 0.6 0 0 0.6 0 0 e 0.5 0 0 0.5 0 0 e 0.6 0 0 0.6 0 0 e 0.4 0 0 0.4 0 0 e -0.6 -0.6 m 0.6 -0.6 l 0.6 0.6 l -0.6 0.6 l h -0.4 -0.4 m 0.4 -0.4 l 0.4 0.4 l -0.4 0.4 l h -0.6 -0.6 m 0.6 -0.6 l 0.6 0.6 l -0.6 0.6 l h -0.5 -0.5 m 0.5 -0.5 l 0.5 0.5 l -0.5 0.5 l h -0.6 -0.6 m 0.6 -0.6 l 0.6 0.6 l -0.6 0.6 l h -0.4 -0.4 m 0.4 -0.4 l 0.4 0.4 l -0.4 0.4 l h -0.43 -0.57 m 0.57 0.43 l 0.43 0.57 l -0.57 -0.43 l h -0.43 0.57 m 0.57 -0.43 l 0.43 -0.57 l -0.57 0.43 l h 0 0 m -1 0.333 l -1 -0.333 l h 0 0 m -1 0.333 l -0.8 0 l -1 -0.333 l h 0 0 m -1 0.333 l -0.8 0 l -1 -0.333 l h -1 0.333 m 0 0 l -1 -0.333 l 0 0 m -1 0.333 l -1 -0.333 l h -1 0 m -2 0.333 l -2 -0.333 l h 0 0 m -1 0.333 l -1 -0.333 l h -1 0 m -2 0.333 l -2 -0.333 l h 128 496 m 128 704 l 112 512 m 400 512 l y x \theta \theta + \Delta \theta \Delta \theta \Delta s R 176 560 m 300 560 l 272 656 m 240 552 l 240 552 l 200 556 m 288 604 l 288 604 l 120 616 m 144 640 152 596 164 568 176 556 200 560 200 560 c 312 652 m 324 688 316 700 316 700 c 200 560 m 221.997 567.259 240 576 276 604 306.368 641.618 312 652 312 652 c 279.111 560 m 14.5981 0 0 14.5981 264.513 560 271.174 572.99 a 290.693 589.929 m 13.7303 0 0 13.7303 277.654 585.626 283.92 597.843 a 221.399 560 m 21.3987 0 0 21.3987 200 560 220.321 566.706 a 42.0476 0 0 42.0476 274 670 e 274 670 m 312 652 l 200 560 m 200 508 l 200 508 l 312 652 m 312 580 l 312 564 m 312 508 l x x + \Delta x