| Conditions | Trajectory Formulations |
| If | Straight line motion (see Lemma 1) |
| If | | If | | If | , , and (see Lemma 2 and Figure 10(a)) | If ) | , , and (see Lemma 3 and Figure 10(b)) | If | | If | , , and (see Lemma 4 and Figure 11(a)) | If | , , , , and (see Lemma 5 and Figure 11(b)) | If | | If | , , and (see Figure 12(a)) | If | , , and (see Figure 12(b)) | If | | If | , , and (see Figure 13(a)) | If ) | , , , , and (see Figure 13(b)) | If | Path from to , with and (see Figure 14(a)) | If | Path from to , with and (see Figure 14(b)) |
| If | | If | Path from to , with and (see Figure 15(a)) | If | Path from to , with and (see Figure 15(b)) | If | Path from to , with (see Figure 16(a)) | If | Path from to , with (see Figure 16(b)) |
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