Epitrochoids: Extended Rolling

• Poopsize, c>-r: [; \underline{r}(t)= (R+r) \underline{e}(t)- (r+c) \underline{e}( \omega t) ;]
• Canonical Epitrochoids: [; \underline{r}(t)=\omega \underline{e}(t) - \lambda \underline{e}( \omega t) ;]
  [; \omega=\frac{R+r}{r}>1 \qquad \lambda=\frac{c+r}{r}>0 ;]
• The Evolute of a True Epitrochoid is not an Epitrochoid
  
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