hi / a nice analogy would be if a lego man would drive an ufo* tangent to a real road ( ready to kidnap someone, etc )
if the ufo is on the left side of the road : G41
radius is always positive; lathes don't work if r<0 is used, but if you wish to use a negative radius i can help
about the center of the radius, or P values, right now i have no analogy to make it simple to understand, but pls find attached images : maybe they bring a bit of light to you
now i don't have time to explain those images, & i did not had time for that chamfer / kindly
* : i am reffering to a standard ufo ( round, hat type, with clean windows all arround 360 degrees ) not to a trans-dimensional material shape shifting phase stuffs