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The cyclocycloid (in this case an epicycloid) with R = 3, r = 1 and d = 1/2
A cyclocycloid is a roulette traced by a point attached to a circle of radiusr rolling around, a fixed circle of radius R, where the point is at a distance d from the center of the exterior circle.
The red curve is a cyclocycloid (in this case an hypocycloid) drawn as the smaller black circle rolls around inside the larger blue circle (parameters are R = 5, r = -3, d = 5).
where is a parameter (not the polar angle). And r can be positive (represented by a ball rolling outside of a circle) or negative (represented by a ball rolling inside of a circle) depending on whether it is of an epicycloid or hypocycloid variety.
The classic Spirograph toy traces out these curves.