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San Francisco's Exploratorium contains an intriguing exhibit of a square wheel that rolls smoothly on a road made up of linked, inverted catenaries. That exhibit inspired us to generate a computer animation of a rolling square and to a further exploration of the relationship between the shapes of wheels and roads on which they roll. In a sense, we are bringing up to date the paper by G. Robison, showing how much more can be done, both numerically and graphically, with modern computer hardware and software.
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