Step 1: Understanding the Concept:
A cusp is a point on a curve where the function is continuous, but has a sharp turn where the tangent lines on either side approach verticality with opposite directions.
Step 2: Detailed Explanation:
For a function $f(x)$ continuous at $x = c$, let us analyze the behavior of its derivative $f'(x)$ as $x$ approaches $c$:
1. If $\lim_{x \to c^-} f'(x) = \lim_{x \to c^+} f'(x) = \pm\infty$, the graph has a vertical tangent line at $x = c$, but not a cusp.
2. If the one-sided derivatives approach infinity with opposite signs:
\[ \lim_{x \to c^-} f'(x) = +\infty \text{ and } \lim_{x \to c^+} f'(x) = -\infty \]
or:
\[ \lim_{x \to c^-} f'(x) = -\infty \text{ and } \lim_{x \to c^+} f'(x) = +\infty \]
then the curve rises sharply on one side and falls sharply on the other side, forming a sharp point or "cusp" at $P(c, f(c))$.
At this point, the left-hand and right-hand tangents both become vertical, but they point in opposite directions, making the function non-differentiable at $c$.
Step 3: Final Answer:
The graph has a cusp if the one-sided limits of the derivative approach infinity with opposite signs.