When a circle rolls on the inside of a fixed circle, any point $P$ on the circumference of the rolling circle describes a hypocycloid. Let the fixed circle be $x^{2}+y^{2}=a^{2}$, let the radius of the rolling circle be $b$, and let the initial position of the tracing point $P$ be $A(a, 0) .$ Find parametric equations for the hypocycloid, using as the parameter the angle $\theta$ from the positive $x$ -axis to the line joining the circles centers. In particular accompanying figure, show that the hypocycloid is the astroid
(FIGURE CAN'T COPY)
$$
x=a \cos ^{3} \theta, \quad y=a \sin ^{3} \theta
$$