2 2D sinusoidal motion

If $\varphi_{2}$ is between $0^{o}$ and $40^{o}$, the locomotion has the same characteristics than in the previous case, but the movement is not a straight line: The robot trajectory is an arc. The constraints used in this movement are: $A_{1}=A_{3}=A$, $T_{1}=T_{3}=T$, $\varphi_{2}\in[0,40]$.