Cycloid ($x=R(\theta -\sin \theta ),y=R(1-\cos \theta )$)

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.

For the cycloid $x=a(t-\sin t)$, $y=a(1-\cos t)$, $a>0$, $0\le t\le 2\pi$, the area between the arch and its baseline isIts arc length isThe positive sign of $\sin (t/2)$ inside this parameter interval removes the absolute value in the speed. Omitting the two endpoint cusps does not change either integral.