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1 4-1

2 4-2 3 X Y

3 4-3

4 4-4

5 4-5 { P} K { U} = T { P} = [ L][ K][ L] { U} { P} K { U} = K = [ L][ D][ U] { p 0 } { p} = [ K]{ u} + { p } 0 T [ L] = [ U]

6 4-6

7 4-7 sin θ,cosθ 0

8 4-8 K = [ L][ D][ U] { p}

9 4-9 { p} = [ L][ D][ U]{ u} { u} [ R] {} u = [ R]{ u} [ k] { f } = [ k]{ u}

10 4-10

11 4-11

12 4-12

13 4-13

14 4-14

15 4-15

16 4-16

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