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A canal surface S, generated by a parametrized curve m(t), in R3 is the envelope of the set of spheres with radius r(t) centered at m(t). This concept generalizes the classical offsets (for r(t) = const) of plane curves. In this paper we develop elementary symbolic methods for generating a rational parametrization of canal surfaces generated by rational curves m(t) with rational radius variation r(t). In a pipe surface r(t) is constant.