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 128 304 m 128 512 l 112 320 m 400 320 l 128 384 m 192 432 224 400 272 384 336 432 336 480 288 480 272 512 c y x \Lambda 128 320 m 192 416 l 176 320 m 48 0 0 48 128 320 154.626 359.938 a \varphi \mathbf{r}(\varphi) \left(x(t), y(t)\right) \dot{\Lambda}(\tau) \ddot{\Lambda}(\tau) t = \tau 329.819 440.07 m 348 480 l 329.819 440.07 m 304 452 l