y – (a sinθ – a θ cosθ)
= – cotθ(x – a cosθ – aθsinθ)
y + x cotθ = acotθcosθ + aθcotθsinθ – aθcosθ
x cosθa cos2θ, a sin2θ
normal form is x cos θ + y sin θ = p when p is the normal from the normal to the given curve is at a consistent distance ‘a’ from the origin.