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\setmainfont[Ligatures=TeX]TeX Gyre Pagella \setmathfontTeX Gyre Pagella Math
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x' = x · cos (\phi) - y · sin (\phi)
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y' = x · sin (\phi) + y · cos (\phi)
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\setmainfont[Ligatures=TeX]TeX Gyre Pagella \setmathfontTeX Gyre Pagella Math
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^ \pi ^ \pi ^
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normal (t) = x(t) · cos ─── - y(t) · sin ─── = - y(t)
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x 2 2
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^ \pi ^ \pi ^
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normal (t) = \undersetquarter circle rotation \underbrace x(t) · sin ─── + y(t) · cos ─── = x(t)
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y 2 2
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\setmainfont[Ligatures=TeX]TeX Gyre Pagella \setmathfontTeX Gyre Pagella Math
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tangent (t) = B' (t)
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x x
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tangent (t) = B' (t)
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y y
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\setmainfont[Ligatures=TeX]TeX Gyre Pagella \setmathfontTeX Gyre Pagella Math
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┌─────────────────┐
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│ 2 2
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d = \|tangent(t)\| = │B' (t) + B' (t)
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⟍│ x y
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tangent (t) B' (t)
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^ x x
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x(t) = \|tangent (t)\| =────────────── = ──────
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x \|tangent(t)\| d
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tangent (t) B' (t)
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^ y y
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y(t) = \|tangent (t)\| = ────────────── = ──────
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y \|tangent(t)\| d
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\setmainfont[Ligatures=TeX]TeX Gyre Pagella \setmathfontTeX Gyre Pagella Math
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┌ x' ┐ = ┌ cos (\phi) -sin (\phi) ┐ ┌ x ┐
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└ y' ┘ └ sin (\phi) cos (\phi) ┘ └ y ┘
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