lsin O1T Lain C Ol Tol) : Ro Llas Co 102) LZ Sin Oe T 0) )

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Cund b Constelei ke leuyhy L CobEcspendin
Joint cngtLe omc O
RoLLAs CO 102) Lz sinoe t 0)]-
By (on.sidegina 0 %Q

x- Cos0 t La Cas (O) tO)L


:LSin O1t Lain COL tOL)
oveE Kmema Has 6

Y u sin O) t s i n (o1 +O)-0


By squteing cne cicddlong con on () end on both
sideg
x+y = tos O t L2.coscO + O:)]

L sin01 + L2sin (O t0)]


=
L oo 2 L(os Oj L2 (o3 COr4O)
+LCasLtO) t0) + 2sin2O1
2LLSinO1 L2sin CO1 +01)+ L22Sin2(OttO
utas20tsinO1) + L2(os2(+O2)
tsintOtO] +5LL2Co30 Cas(O1t
+

Sinoi sintor t0 2
LxL +Lz L+ 211L2 lCos (it01)
t s Bt sin Asing = (as (A-B)|

L i 2 4 Lt 2L L (osO
Cas O2 x2+Y2- Li-L22
2I 2

onp en 2 SinO
LL2 CasO
Jan ten (p«)
Hen t e n
1 en p feun
L2 Jin O

L2 sin D
tL2 Cos O2

YCLIALz (0sO2) - X LL22 Slno)


xLtl2 (0s02 l2 sinD>2)
LLtosO}-
ein YLt L2 Cos O2)- (Lsin O)
xCLt La cos0) CL2.sino}|
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fescodee
Componet
doint Ji By segolvin mo moHon

RI CosO LI6in o

into moHon
miluy at Joint J by s a /Nlag
Comine
CoYnponc'ut y (onatoleyns & i n l leuya Lz
anol

La SincAt D2)
K 2Cas COIt 0:)

ne ett golnt ds by aalug in du moáorr


mnutrd a l cons/dos
in dn olink leu

Ra Le ( ac CO 4 O O ) , Lz Gnlo1tO t s )

neoep euddHy
O u paneutt
X L (os D t_L2 (bS (D1t O)tLa Las (O1 D21h

L I sin Ot Lasin l Oit Dz) +l3 (os (O110at

kinemehe
no. (19 &0 cmo eawcttc_

TnetcKiuemahe 8Dof 2 Dlo


By scclcinq 8Do f ConkyiltclHon
2 Dof nglueHon by toistelen Pinal
oeianteuton cangt CotSSpond

X3 X- Le cos
-()
Y l3 Sin y v)
By Usi

L (s O t L los CO4 tO2) V )


2L Sin O t L2 5in (B1t O) IX
By squteinq ccl encld ing e) no. 2, Z
ot/el.e.

Xo Y3 Lr tas O tL2t os (O1 +O2


LLsinO14 L2 Sin(0,+ D)]

_Lí osO nC0s (Ott O2.) 2 Llos O


L2 (a)2 (0t D2) + Lilsin2 O
2Sin L2 Sin(O1t D)tl'si
tttesOrtt Sin20+ L{tosDt P2)+OtD)
Sin20r P2)J+ 21 La Ttos O oCOt DL+
sin Or sint OtO)1
los02 2+Y2-L2-L
2

Jenp

CA
LIt Lz OS02

de i E -lenC )
L2 5lnD

L SinDz

12 CL1L2 (0302)-X2CLa Jin D7)


LLitL as (O)

X LtL t63 2)-xaLL2 sin Dz)


o CLtL tosO)

t Ctyttros D2)-X%C L2 Sin D


C L t L2 (03 (02)-Y3 CLL2 31n O

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