This diagram is by courtesy of Jean-Pierre Lacroix and Robert Baywater, www.ancientcartography.net
In the above diagram, both the theories of Manda Kriya and Sheegra Kriya are given.
In the case of a superior planet, a deferent is drawn from an earth based observer. The Center of the Manda Epicyle rotates around the terrestrial observer, travelling around the deferent.
The peripheral end of one radius of this Manda Epicycle determines the center of another epicyle called the Sheegra Epicycle.