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Let's say I have:

41.115562000000, -74.047621000000

and

41.095640000000, -74.011084000000

Is there a formula to calcuate the distance between these two points?

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It depends what degree of accuracy you are looking for. This article on geographical distance from wikipedia should be useful http://en.wikipedia.org/wiki/Geographical_distance. Since the points are so close together and not near a pole, you could safely use the spherical earth projected to a plane.

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