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x(t)=x^{*}(t)-\sin(\intop\nolimits_{0}^{t}\sqrt{
[x^{*}(u)]^{2}+[y^{*}(u)]^{2}}du)
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x(t) = x^{*}(t) - \sin ( \intop\nolimits_{0}^{t} \sqrt{ [x^{*}(u)]^{2} + [y^{*}(u)]^{2} } du)