Bypass certificate prompt if URI contains a specific word

I doubt you will find an article describing your exact case.

As I said you need to use a Per Request Policy with Url Branching and On Demand Cert Auth
Keep in mind that a Per session policy is mandatory in order to use a per request one. But this per session policy could just be empty with a default accept ending.

You also need to have a Client SSL profile where you will define your trusted CA and set Client Certificate to ignore.

To help you more you per request policy could look like this

while per session could be as simple as this