Ley-x:
ir:
0 [< w [< (pi/2)
r·d_{t}[w] = ru+(-1)·v·tan(w)
w(t) = Anti-[ ( s /o(s)o/ int[ (1/v)·ru+(-1)·tan(s) ]d[s] ) ]-( (v/r)·t )
volver:
(pi/2) [< w [< pi
r·d_{t}[w] = ru+(-1)·v·cot(w)
w(t) = Anti-[ ( s /o(s)o/ int[ (1/v)·ru+(-1)·cot(s) ]d[s] ) ]-( (v/r)·t )
Ley-x:
ir:
0 [< w [< (pi/2)
r·d_{t}[w] = (r+(-d))·u(t)+(-1)·v·tan(w)
w(t) = Anti-[ ( s /o(s)o/ int[ (1/v)·(r+(-d))·u(t)+(-1)·tan(s) ]d[s] ) ]-( (v/r)·t )
volver:
(pi/2) [< w [< pi
r·d_{t}[w] = (r+(-d))·u(t)+(-1)·v·cot(w)
w(t) = Anti-[ ( s /o(s)o/ int[ (1/v)·(r+(-d))·u(t)+(-1)·cot(s) ]d[s] ) ]-( (v/r)·t )
