#include <bits/stdc++.h>

using namespace std;

#define eps 1e-9
#define INF 2000000000              // 2e9
#define LLINF 2000000000000000000ll // 2e18 (llmax:9e18)
#define all(x) (x).begin(), (x).end()
#define sq(x) ((x) * (x))

#define rep(i, x) for (int i = 0; i < (int)(x); i++)
#define drep(i, x) for (int i = ((int)(x)-1); i >= 0; i--)

#define popcount __builtin_popcount
#define next __next
#define prev __prev

#ifndef LOCAL
#define dmp(...) ;
#else
#define dmp(...)                                                               \
  cerr << "[ " << #__VA_ARGS__ << " ] : " << dump_str(__VA_ARGS__) << endl
#endif

// ---------------- Utility ------------------

template <class T>
bool chmin(T &a, const T &b) {
  if (a <= b) return false;
  a = b;
  return true;
}
template <class T>
bool chmax(T &a, const T &b) {
  if (a >= b) return false;
  a = b;
  return true;
}

template <class T>
using MaxHeap = priority_queue<T>;
template <class T>
using MinHeap = priority_queue<T, vector<T>, greater<T>>;

template <class T>
vector<T> vect(int len, T elem) {
  return vector<T>(len, elem);
}

// ----------------- Input -------------------

template <class T, class U>
istream &operator>>(istream &is, pair<T, U> &p) {
  return is >> p.first >> p.second;
}

template <class T>
istream &operator>>(istream &is, vector<T> &vec) {
  for (int i = 0; i < vec.size(); i++) is >> vec[i];
  return is;
}

// ----------------- Output ------------------

template <class T, class U>
ostream &operator<<(ostream &os, const pair<T, U> &p) {
  return os << p.first << ',' << p.second;
}

template <class T>
ostream &operator<<(ostream &os, const vector<T> &v) {
  for (const T &e : v) os << e << " ";
  return os;
}

template <class T>
ostream &operator<<(ostream &os, const deque<T> &d) {
  for (const T &e : d) os << e << " ";
  return os;
}

template <class T>
ostream &operator<<(ostream &os, const set<T> &s) {
  os << "{ ";
  for (const T &e : s) os << e << " ";
  return os << "}";
}

template <class T, class U>
ostream &operator<<(ostream &os, const map<T, U> &m) {
  os << "{ ";
  for (const auto &[key, val] : m) os << "( " << key << " -> " << val << " ) ";
  return os << "}";
}

template <class TupleTy, size_t... I>
void dump_tuple(ostream &os, const TupleTy t, std::index_sequence<I...>) {
  (..., (os << (I == 0 ? "" : ",") << std::get<I>(t)));
}

template <class... Args>
ostream &operator<<(ostream &os, const tuple<Args...> &t) {
  os << "(";
  dump_tuple(os, t, std::make_index_sequence<sizeof...(Args)>());
  return os << ")";
}

void dump_str_rec(ostringstream &) {}

template <class Head, class... Tail>
void dump_str_rec(ostringstream &oss, Head &&head, Tail &&... tail) {
  oss << ", " << head;
  dump_str_rec(oss, forward<Tail>(tail)...);
}

template <class T, class... U>
string dump_str(T &&arg, U &&... args) {
  ostringstream oss;
  oss << arg;
  dump_str_rec(oss, forward<U>(args)...);
  return oss.str();
}

// --------------- Fast I/O ------------------

void fastio() {
  cin.tie(0);
  ios::sync_with_stdio(0);
  cout << fixed << setprecision(20);
}

// ------------------ ACL --------------------

// #include <atcoder/modint>
// constexpr int MOD = 998244353;
// constexpr int MOD = 1000000007;
// using mint = atcoder::static_modint<MOD>;
// ostream &operator<<(ostream &os, const mint &v) {
//   return os << v.val();
// }

// ------------ End of template --------------

#define endl "\n"
using ll = long long;
using pii = pair<int, int>;

void solve() {
  int V, T, S, D;
  cin >> V >> T >> S >> D;
  if (D < V * T || D > V * S)
    cout << "Yes" << endl;
  else
    cout << "No" << endl;
  return;
}

int main() {
  fastio();
  solve();
  // int t; cin >> t; while(t--)solve();

  // int t; cin >> t;
  // for(int i=1;i<=t;i++){
  //   cout << "Case #" << i << ": ";
  //   solve();
  // }
  return 0;
}

#include <iostream>
#include <cmath>
#include <string>
#include <vector>
#include <algorithm>
#include <bits/stdc++.h>

using namespace std;
typedef long long ll;

#define PI 3.141592653589

ll INF = 1LL << 60;

void rot( pair<double,double>& p, double theta ){
  
  pair<double,double> tempp = p;
  p.first = tempp.first * cos(theta) - tempp.second * sin(theta);
  p.second = tempp.first * sin(theta) + tempp.second * cos(theta);
  
}

void move( pair<double,double>& p, pair<double,double> move ){

  p.first = p.first + move.first;
  p.second = p.second + move.second;
  
}

double dot( pair<double,double> p, pair<double,double> q ){

  return p.first*q.first+p.second*q.second;
	
}

double norm( pair<double,double> p ){

  return sqrt( p.first*p.first+p.second*p.second );
  
}

int main(){

  ll N;
  cin >> N;
  double x0, y0;
  double xN2, yN2;
  cin >> x0 >> y0;
  cin >> xN2 >> yN2;
  pair<double,double> p0( x0,y0 );
  pair<double,double> pN2( xN2, yN2 );
  pair<double,double> pN20( x0-xN2, y0-yN2 );
  pair<double,double> center( (x0+xN2)/2, (y0+yN2)/2 );
  pair<double,double> px(1,0);

  double m = sqrt( pow(p0.first-pN2.first,2)+pow(p0.second-pN2.second,2) )/2;
  double r = sqrt( 2*m*m*(1-cos(2*PI/N)) ); //radius
  //cout << m << " "<< r << endl;

  double theta = acos( dot( pN20, px )/norm(pN20) );
  if( pN20.second < 0){
	theta = 2*PI - theta;
  }
  //cout << theta*180/PI << endl;
  
  pair<double,double> p1( r, 0 );
  //cout << p1.first << " " << p1.second << endl;
  rot( p1, PI - ((N-2)*PI)/(2*N) );


  move( p1, pair<double,double>( m, 0 ) );
  //cout << p1.first << " " << p1.second << endl;

  rot( p1, theta );
  move( p1, center);

  cout << fixed << setprecision(10) << p1.first << " " << p1.second << endl;
  
  return 0;

}
