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Unity: Rolling a ball around a spherical planet with forces
@Jessica, you are correct, but that is actually the vector you want. The vector from the centre of the planet to the point opposite the ball is equivalent to the vector from the ball to the centre of the planet. The vector from the ball to the centre of the planet is the direction along which gravity acts upon the ball.
Math to steer a car
I'm looking for a more general solution to get from one position and direction to another position and direction. Unfortunately, there are many situations where a single circular arc will not work. One example of this is changing lanes, where you need to first steer one way to turn into the lane, then the other way to orient the car with the lane.