clc;clear ;close all;
fi=20;
vfi=-1.065;
dt=0.05;
R=1;
x=[0 R*sin(fi)];
y=[0 R*cos(fi)];
plot(x,y,'o-')
axis([-2 2 -2 2])
for ii=0:0.01:20
fi=fi+vfi*dt;
fi1=2*fi;
vfi=vfi+sin(fi)*dt;
%vfi1=vfi+sin(fi)*dt;
x=[0 R*sin(fi) R*sin(fi)+0.5*sin(fi1)];
y=[0 R*cos(fi) R*cos(fi)-0.5*cos(fi1)];
plot(x,y,'o-')
%hold on
axis([-2 2 -2 2])
%axis equal
pause(0.05)
end