An intrinsic equation which expresses a curve in terms of its arc length and radius of curvature (or equivalently, the curvature ).

Yates, R. C. "Intrinsic Equations." A Handbook on Curves and Their Properties. Ann Arbor, MI: J. W. Edwards, pp. 123-126, 1952.

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Weisstein, Eric W. "Cesàro Equation." From MathWorld--A Wolfram Web Resource. http://mathworld.wolfram.com/CesaroEquation.html