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:<math> y_d(t)= y(t)-\frac{d\; x'(t)}{\sqrt {x'(t)^2+y'(t)^2}} \ .</math>
The
===Geometric properties:<ref name="hart30">E. Hartmann: [http://www.mathematik.tu-darmstadt.de/~ehartmann/cdgen0104.pdf ''Geometry and Algorithms for COMPUTER AIDED DESIGN.''] S. 30.</ref>===
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