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We present a configurable trajectory planning strategy on planar paths foroffline definition of time-dependent C2 piecewise quintic feedrates. The moreconservative formulation ensures chord tolerance, as well as prescribed boundson velocity, acceleration and jerk Cartesian components. Since the lessrestrictive formulations of our strategy can usually still ensure all thedesired bounds while simultaneously producing faster motions, theconfigurability feature is useful not only when reduced motion control isdesired but also when full kinematic control has to be guaranteed. Our approachcan be applied to any planar path with a piecewise sufficiently smoothparametric representation. When Pythagoreanhodograph spline curves areconsidered, the corresponding accurate and efficient CNC interpolatoralgorithms can be exploited.

C2 continuous time dependent feedrate scheduling with configurable kinematic constraints