Creating a curved trajectory

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Suppose the initial configuration of the robot is (x,y,theta). I want to publish a trajectory in which the final orientation of the robot is, say 2 degrees, to the left of current orientation. What should be the (translational velocity, angular velocity) command should be given to the robot base to form such a trajectory. Also how should the vector of points of the trajectories be filled up. It is to be noted that I am not taking into consideration the translational and angular acceleration into consideration.