 Cycloid

A cycloid is the plane curve traced by a point on a circle rolling without slipping along a straight line. A parametrization with rolling radius $R$ is $x=R(\theta -\sin \theta )$, $y=R(1-\cos \theta )$; reversing the sign of $y$ reflects the curve. Its cusps occur at integer multiples of $2\pi$. A descending cycloidal arc solves the classical brachistochrone problem.