# Cam displacement, velocity and acceleration
# Scope: Simple harmonic rise at a specified normalized phase.
# Status: illustrative worked example; engineering review pending.
# Inputs are example values. Checks are editable example requirements, not standards.

lift = 20 mm
riseTime = 0.5 s
phase = 0.5

position := lift*(1-cos(pi*phase))/2 [mm]
velocity := lift*pi*sin(pi*phase)/(2*riseTime) [mm/s]
acceleration := lift*pi^2*cos(pi*phase)/(2*riseTime^2) [mm/s^2]

check phase within rise: phase >= 0
check phase upper bound: phase <= 1

scenario alternative: lift = 16 mm