We will create this trajectory by using two different cubic polynomials. Let f1(t) = a0 + a1t + a2t2 + a3t3 describe the trajectory for t [0, 1] and f2(t) = b0 + b1(t 1) + b2(t 1)2 + b3(t 1)3 describe the trajectory for t [1, 2]