/* Topcoder SRM 347, D1, 250-Pointer (Aircraft)
   James S. Plank
   September 26, 2010
 */

#include <string>
#include <vector>
#include <iostream>
#include <cstdio>
#include <cstdlib>
using namespace std;

class Aircraft {
  public:
    string nearMiss(vector <int> p1, vector <int> v1, vector <int> p2, vector <int> v2, int R);
};

string Aircraft::nearMiss(vector <int> p1, vector <int> v1, vector <int> p2, vector <int> v2, int R)
{
  vector <double> x, y;
  double numerator;
  double den;
  double mint;
  double dr;
  int i;

  /* Convert R to a double, and square it */

  dr = R;
  dr *= dr;

  /* Set x_i and y_i as advocated, to simplify the equations */

  for (i = 0; i < p1.size(); i++) {
    x.push_back(p1[i]-p2[i]);
    y.push_back(v1[i]-v2[i]);
  }
  
  /* Differentiate, set to zero and solve for t.  This will be in mint */

  numerator = 0;
  den = 0;
  for (i = 0; i < x.size(); i++) numerator -= (x[i]*y[i]);
  for (i = 0; i < x.size(); i++) den += (y[i]*y[i]);

  mint = numerator / den;
  if (den == 0) mint = 0;
  
  if (mint < 0) mint = 0;

  /* Now that you have mint, go back and solve for the square of the distance. */

  den = 0;
  for (i = 0; i < x.size(); i++) den += (x[i]*x[i]);
  for (i = 0; i < x.size(); i++) den += (2*x[i]*y[i]*mint);
  for (i = 0; i < x.size(); i++) den += (y[i]*y[i]*mint*mint);

  if (den <= dr) return "YES";
  return "NO";
}