(xq + 0.9A, yq) 



VO ^ ""^0 '^^^ <*) 



X = Xq + A(cos (a) - 0.1 cos (3a)) 

 y = VO + A{sin (a) + 0.1 sin {3a)) 



Figure 2 - Geometric Description of the Moving Body Contour 



26 



