Cg. Gibson et al., ON VERSAL UNFOLDINGS OF SINGULARITIES FOR GENERAL 2-DIMENSIONAL SPATIAL MOTIONS, Acta applicandae mathematicae, 47(2), 1997, pp. 221-242
Local models are given for singularities which can appear on the traje
ctories of general two-dimensional spatial motions. Versal unfoldings
of these model singularities give rise to computer generated pictures
describing the family of trajectories arising from small deformations
of the tracing point.