[double0jimb0]

Any non-arc generates instantaneous acceleration changes at the line inflection points, these are impossible for a mechanical system to perfectly implement. Huge amount of jerk results the closer/faster one tries to achieve instantaneous acceleration. Why wouldn’t a system try to use arcs and splines to minimize these effects?

The CNC controller world has been trying to solve this problem for decades. Turning everything into line segments seems to go in opposite direction of this progress.