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Fixed Curve: [; \underline{\textbf{R}}(t) ;] Unit Normal: [; \underline{\textbf{N}}(t) ;] Arc Length: [;s(t)=\int_{t_0}^t |\underline{\textbf{R}}'(t)|~dt;] Rolling radius: [; r;] Rolled Angle: [; \theta= \frac{s(t)}{r};] Center of Rolling Circle: [; \underline{\textbf{R}}(t)+r \underline{\textbf{N}}(t) ;] Rolling Vector: [; \pm r\underline{\underline{\textbf{D}}}(-\theta) \underline{\textbf{N}}(t) ;] [; \underline{\underline{\textbf{D}}}(\theta)= \left(\begin{array}{rr} \cos{\theta} & -\sin{\theta}\\ \sin{\theta} & \cos{\theta}\\ \end{array}\right);]