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We report results on an elastic cross section measurement in proton-proton collisions at a center-of-mass energy $\sqrt{s}=510$ GeV, obtained with the Roman Pot setup of the STAR experiment at the Relativistic Heavy Ion Collider (RHIC). The elastic differential cross section is measured in the four-momentum transfer squared range $0.23 \leq -t \leq 0.67$ GeV$^2$. We find that a constant slope $B$ does not fit the data in the aforementioned $t$ range, and we obtain a much better fit using a second-order polynomial for $B(t)$. The $t$ dependence of $B$ is determined using six subintervals of $t$ in the STAR measured $t$ range, and is in good agreement with the phenomenological models. The measured elastic differential cross section $\mathrm{d}\sigma/\mathrm{dt}$ agrees well with the results obtained at $\sqrt{s} = 546$ GeV for proton--antiproton collisions by the UA4 experiment. We also determine that the integrated elastic cross section within the STAR $t$-range is $\sigma^\mathrm{fid}_\mathrm{el} = 462.1 \pm 0.9 (\mathrm{stat.}) \pm 1.1 (\mathrm {syst.}) \pm 11.6 (\mathrm {scale})$~$\mu\mathrm{b}$.
Results of the exponential function $A e^{-B(t)|t|}$ fit to the elastic differential cross section data as well as the integrated fiducial cross section are listed. Also listed are the corresponding values of the statistical and systematic uncertainties. The scale (luminosity and trigger efficiency) uncertainty of 2.5% applicable to the fit parameter $A$ and fiducial cross section $\sigma^\mathrm{fid}_\mathrm{el}$ is not included in the full error.
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