two intervals const a p2

• Velocity $$\tag{D2} v(t) = \left\{ \begin{array}{cc} v_0 + a_0(t - t_0), & t_0 \le t < t_1, \\[0.5em] v_1 + a_1(t - t_1), & t_1 \le t < t_2, \end{array} \right. $$ with $t_{n+1} = t_n + \tau_n$, where $\tau_n$ is $n$-th time interval.
• Initial conditions
  • $v(t_0) = v_0$,
  • $v(t_1) = v_1$ and $v(t_1) = v_0 + a_0(t_1 - t_0)$.