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I’m guess it’s implied that this is only while the skate is in contact with the ice, and that the skate is lifted in order to reposition it? It seems a rather inadequate model if we want to train a halfway competent ice skating robot, though.

Hello fellow figure skater! This is a fun intersection to find on HN

hey, a fellow figure skater!

You can still draw arcs without sideways slipping. If you do out the math, you’ll see that a skater traveling in a circle has no sideways velocity, but does have sideways acceleration.