Xsinify -Zcos^ s 0 j
)
X(taYcosip-taAsiHip) + 9-Z(tarsitnp + toA,cos<p) = Q;
| I |
) XyOZy.; =0. ;
Xsinip - Zcostp, = 0,
X(t(jposip-taAsi,ttp)+ 9-Z(topin(f+toAcosip)=0,
| a2X + y-C2Z=0. |
| 9 - 9 |
| Z - |
| -e< |
| : |
| 1 |
-cosif + ata & + siu tp
: Ar^s^-eosif) + ctoA) + sintp).
yv0Zv. *
XstUip + ZcO9lf=:0,
X =.
| z - z0 |
. :
| -So |
| situp 1 |
| 5vnu> COS If 1 |
| , |
>7
| X | -* | |
| COS (^ |
a _
Cosip
: = (0; + cosip; 0).. %:
ctg (, COS tf _________
~ l/(sirv\+cosi4> + ct<j!!oi,)cosV!ip '
| 8= . |
- = COSoC,
fUcta2*
Xy0Zv (..2.11
| _ |
-
^ -[-tabinl^tirt + tajcosOf + jp,)] imp,
| - |
| 9 - 9 |
| Xv OZy:
| ___ |
z -
| sin ^ |
| -COS if X -) |
| ■ COStfj |
SitKf,
9 - 9,
_
Sin (
COSvf
.
I ■ Z
COS If + St . (
Cos 6.
VI Vl+ft^AsiHCip^^Htgycos Cfp+ip^l Z
1 sin 9, to ,
3 I 1 + [-taXsiu(if+ifl + tqYtost(fi +if,)]2
| X - X |
.*-
| - COS If, | Si, HID | - Sip | StH^ | |||||
| X - 0 | - | 2 - 2,0 |
1+ [-to A. sin ,+ V + taycos(.i?+if.l)]5
| (2.41) |
8, J.,
(f = 4,1=45 toy, ^tgA, (. . 2.13,).
,
90, -. (. . 2.13,6):
tal, = cos 90+ + lfl)-tq)lei,.i(90o+tfitip4) =
=- [tgAcosCif + ,)'+ igy.*H (if + >,)]- (2.42)
9yOZyB (. . 2.14,). :
)
X sirup,-Xcosip =0;
)
cost^-e. +nqcl+I^4-O_ = 0
cose \ cos
) ; =0.
:
v - * -.4. Z - Z 0
| -cosif, . cose |
Simp, - SHM
|
|
|
| cos Cfi-e). toil, |
| cose |
cos&ft-e)(|->
cose cos£
-
__ _
Tq ot.
tqd,cos Cfl -1 si-tup, to, <*1
HyOZy
: - *
U - cos <,
:
cos if,
| cos6^= |
;=C0Sot,,
Ycos2 >1 'yto^stjfy+toUjCoe*^
Lt;*,.
2.4.2
Xv0Zy , .. ,. - :
)
Xv03v, Z=0;
)
Xltaycosif-tgAsinvfH 9-£(tc|ysiHp+tgAcos4>)=0;
) O^v ■ = 0
:
"* = 0,
(toy costf-talsiHif)X+y-Z(tgysinif+toA,cosif)=0. . :
X - X
10 110 1
-^(tqvsinif+to.cos if) ~|(tgycos^-tQAsinif)-(tQysinf+taXcos4i)
2-ջ
I ..
Cosif-tolsttnf) 1
| Ills |
- ,
" 1 tor tosip-toA sin >
= |-1;(tfli(cos<f-toJlsin.tp); J. XyOZy:
JZ = , | = 0. :
| X - X |
- 9,
1
| _ _ |
| - |
-.
1
,= (-1}0j0). :
"~ "Vl+ltojcoif-tglltup)
'_ ta yeostf-t^ St Ct^cosvf-tgJ, evn^t " Vl+(tgjeesif-tj4 iKtp)1'
| ^■-*-**1 9^=tntcos,f" "4?sUip) |
H
tqjl/toy = to *.
*-⫫ + *0/**. (2,43)
02 ( diip0g). :
) 2= 0 i
)
X(cta<*,cosif- taAsin4>)+ -Z{daAsiny + taX cosip) = 0;
) v 0ZV; X = 0.
| *-,[+ - |
:
Z=0,
X (cto(icosif-tQA.sin(p)+9-Z|ctootsiH<p+taAcosf) = o,
CZ =0
( .)
| X | - * | - | - So | X - z0 | |||
| - | a | - | a |
z - z
-(toA.sittu>-ctaA cos <p)
: ,= 1-1; -(tdtsittip-ctooicosip) ^0]
Jx=o,
] =0. (,):
| - |
| - |
Z - z
| 0 0 | - | 0 1 1 0 | |||
| X -0 | - 9 | - | Z0 |
+1
| COSd |
: = (; +1; ). , ctgd cos if - to , sin <f
0'
Y~T'Y(,tqJlstniB-cigot,cos<p)z+1
1+ (taJLsvn.(f-ctg<tcos ip)2 jltfobitttf-ctqetcosip)2
W o3=_______ j*<*:.
ctQAcostf-toA. stnvp cosip-tojltool, sinip
|
|
|
tqp=toltc| d-, /
t_______________ tftd _ tg.6 cosja _^gll, (2.44)
ilpo?" coeip-topsiti " cosif cosj - siaifsittji tfos(if+p)
Xv0Zy , .. :
) = 0;
)
(tarcosl(>-to^svH(p)X+y-(tgysvHtf+tQXcos4>)Z = 0;
) Xv0Zy;9 = 0.
:
=
(toyco*4l-tcjXsiiiif)X+ 9-(tcjjslftif+tg*cos40Z,= 0. :
- - ,_*_ljLl.
0 tarSvKip+tolcos <f 1
: [0; Ctcjjj1 siiip+t^X costp); lj.
Xv0Zv:,
).
( :
) X = ;
)
| XcoSvp)Z = 0; |
X(ctootcosp-tQA'Sltt.ip)+ -(ctoAsiKvptta ; Z-0.
.
:
| X - X, |
| S |
Z - 2,
0 (ctootsiwipttoAcoSvp) 1
: LQ")(ctciot,5iltCp + cos ); lj.
OZy:
= , z = o.
| -. |
| -. |
| - |
| + 1 |
:
| -0 | -0 _z-z0 | |
| 1 1 |0 0 | - | 0 11 la 1 | |
| Vnan = |
| I = , | ||
| \ = . | ||
| : | ||
| ~0 | ~ Z - Z | -0 |
| 0 0 1" | t 0 I ~ 11 0| | |
| 1 | ~ | 0 D | 1 I |
0 1
(eta* ainu) + "tgA, cost*} non ^^^ + ^2'
ctod,siii^ + to. , tp
tg cC
sitiif + teAtaAcosif
| COSY |
4 V S ; ■■■. I | -
1~ Nl+lt^ysitt^+t^cosi^
taXi-sr^. 0 tqv
| _ tgAcos ji> " Sintiytj) |
| (2.46) |
_____ tft
ituf + eosj> ~co9>f
* , ..
1 ■ :
) X = ;
