Hypocycloid 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, if $b=a / 4,$ as in the accompanying figure, show that the hypocycloid is the astroid
$$x=a \cos ^{3} \theta, \quad y=a \sin ^{3} \theta$$