Given a radius, calculate Bezier curve

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For a given radius, theta, and position, can you calculate a Bezier curve?

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In section 2.11 on p. 27 of the following there is a description of how to create a bezier curve that exactly represents an arc.

https://web.archive.org/web/20170830004521/http://www.tsplines.com/resources/class_notes/Bezier_curves.pdf