Here's an interface for using your own renderers with Scribble: http://docs.racket-lang.org/scribble/renderer.html
I think one would also want to look at the code for an existing renderer, not just work from the interface documentation alone. (If I were going to do a more-plain-HTML5 renderer, my first pass would be to copy the existing HTML renderer, and start modifying it until I had a working proof-of-concept for my desired output format. This might be very easy. After that, armed with my new understanding, I would probably then look at how to share code with between the two HTML flavors of rendering, to have things be more maintainable long-term.)
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