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two intervals const a p1
Acceleration
a
(
t
)
=
{
a
0
,
t
0
≤
t
<
t
1
,
a
1
,
t
1
≤
t
<
t
2
,
(D1)
\tag{D1} a(t) = \left\{ \begin{array}{cc} a_0, & t_0 \le t < t_1, \\[0.5em] a_1, & t_1 \le t < t_2, \end{array} \right.
a
(
t
)
=
{
a
0
,
a
1
,
t
0
≤
t
<
t
1
,
t
1
≤
t
<
t
2
,
(
D1
)
with
t
n
+
1
=
t
n
+
τ
n
t_{n+1} = t_n + \tau_n
t
n
+
1
=
t
n
+
τ
n
, where
τ
n
\tau_n
τ
n
is
n
n
n
-th time interval.