ABSTRACT
H="-.,:(K+~(al+a~+a~)}~exV1cos81cosy1+IcyV1cos81siny1+AzV1sin81+ II
dA.xoH dtox
dAy=_aH dt8yl
aH=O: oax
oH-- o.·Is'.s,az=-cos1"-e+smI"V oazVI
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