c(t) = (x(t), y(t)) c(t) = (r cos t, r sin t) ~ (c(t1 )) T ~ (c(t)) = T ~ (c(t1 )) N h(t1 ) a(t1 ) c(t1 ) c0 (t) ||c0 (t)|| = (− sin t, cos t) ~ (c(t)) = (T~y (c(t)), −T~x (c(t))) = (cos t, sin t) N d(c(u), t0 , t) = r · (t − t0 ) h(t) = d(c(u), t0 , t) · tan α d(c(t), t0 , t1 ) ~ (c(t)) a(t) = c(t) ± h(t) · N ax (t) = (1 ± (t − t0 ) tan α)r cos t ay (t) = (1 ± (t − t0 ) tan α)r sin t c(t0 )