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4-2 3 X 4 2 2 3 Y 1 1 4 5

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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]

4-6

4-7 sin θ,cosθ 0

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

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

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