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tr s^ucvxw?y{zB|{}G~Pz ?svvxwvyv#vG}Gy/?}Gs{}G??zs?}z|{}8uzs/uy{?}G?s{zvs)?zxwvwa}Gzvu}Gv?z
zw?Eucv?zyG `z}Gs^ucvMw?y{zB|{}G~PzMzs wazuzs ?zM}Gs{wv~GzszMw?y{zB|{}8ucv?zs zy^uzzv}Gu} vzMw?v?z
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-vyv=}G zuyvyMvw?y{zB|{}G~Pz=?}?wazuz P waz6?}Gzs}G zuyvy4vs z6zy{?}Gvvs?} P }G
y{}Gv~Pzvzs{s^u}GMv S = {O , U , U , U } }uzMvyvs?vsw?y{}Gyvs z6zy{?}GvvsG
`zzvw?y{zB|{}G~Pz}Gv?}Gyw?v?zwvyv}Gzvzw?v?z?z?}Gs{}G??zzy{?} }xvs}Gs{Mvs z6zy
0 0
1 2 3

?}Gvvswaz6?}Gzss{?wazy?} O = O zs{}|v ?}xzs?zss{s^u}GMvsRuGv}Gs{Mvzy{}G


y{}Gv~Pz}Guy{}vs z6zy{?}Gvvs?}x?wazuz?zs?zss{s^u}GMvs
0

0
S = {O, U , U , U }
} S = {O,~i, ~j, ~k}
xvvwazy
1 2 3

0
X = Q X,t }G?} Q = [ U U U ]
vzsR}G zuyvyzs`}8uzy{}Gs U U } U }G??~Pz?zs??zs } }8uzy U wvyv}Gzvz
1 2 3

w?v?z xy }xxwa}Gy{wa}G?? ?vyvz}8uzy (cos , sen , 0) zUs{}|v


1 2 3 1

U1 = ( sen , cos , 0).


s}8uzy{}Gs U2
} U3
}Gs^ucz?zw?v?z?}8??zwazy ~k } (cos , sen , 0)

U2 = cos (cos , sen , 0) + sen ~k = ( cos cos , cos sen , sen )
U3 = cos ~k + sen (cos , sen , 0) = (sen cos , sen sen , cos )

y0

x0

-?yv ty{zB|{}G~Pzzy^uzy9 v?}x? ?az

ty{zB|{}G~Pz4y^uzy9 v 9?}x?z1}G?y{zM?}

U2

U1

~k U3
O0

~j
~i

-?yv s{s^u}GMvs?} z6zy{?}Gvvsy{}Gv zv?zsw?y{zB|{}G~Pzzy^uzy9 v

9?}x?z1}G?y{z?} }Gv?zEaEvuzs

U2
~k

U1


U3

~j

(cos , sen , 0)
~i

-?yv vs{}Gsy{}Gv zvvsw?y{zB|{}G~Pzzy^uzy9 v

ty{zB|{}G~Pz4y^uzy9 v 9?}x?z1}G?y{zM?}

~j ~k
U2
(cos , sen , 0)

U1 U3

~i (cos , sen , 0)

-?yv }Gv~Pz}Guy{} zs}8uzy{}Gs


vsvs{}Gs {U1 , U2 , U3 }
} {~i, ~j, ~k}

9?}x?z1}G?y{z?} }Gv?zEaEvuzs

s{s{vy{}Gv~Pz}Guy{}vs 6z zy{?}Gvvs?}x?wazuz?zs?zss{s^u}GMvs
0
S = {O, U , U , U } 1
} S = {O,~i, ~j, ~k}
2 3

xvvwazy
x0 sen cos 0 x
y 0 = cos cos cos sen sen y

} vw?y{zB|{}G~Pzxvvwazy z0 sen cos sen sen cos z


    x
x0
sen cos 0
= y .
y0 cos cos cos sen sen
z
)zy}IE}Gw?zwvyv = 30
} = 60
u}Gzs?}
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x  x
"
12 3
  
x 0
2
0 y 0.5 0.87 0
= y .
y0 43 14 3 0.4 0.25 0.87
2 z z

sv??z}Gs^ucvw?y{zB|{}G~Pzzs}8uzy{}Gs ~i ~j } ~k sz?}Gs{}G?v?zs zzv?yvvvEz?
r-Ewa}Gy{}Gu}x?}Gs{}G?vy
z ?az?}xu}Gvzy{}G O = (0, 0, 0) zz??zsRGy^u }Gs
} zz
Gy^u }GsvB|v }Gu}Gszy{}G (1, 0, 0) (0, 1, 0) } (0, 0, 1) ?s{}Gy^}?}zM ?} }Gs{sy{z v ?vy
vw?y{zB|{}G~Pz?zszEuy{zswazuzs wazy?}1B

z
}G??}Gy{}G~Gz 6^9R&R#E?`#E?EB?&&9E?EER#6! }Gs^uczv?MvswB
vsu}Gyv9uvsR?} ?s^uyvz?}xz}IEwazs^uzMv?

ty{zB|{}G~Pz4y^uzy9 v 9?}x?z1}G?y{zM?}

0.8

0.6

0.4

0.2

0.2

0.4

0.6

0.8

1
1 0.8 0.6 0.4 0.2 0 0.2 0.4 0.6 0.8 1

-?yv /}8uzy{}Gs ~i ~j } ~k ?}Gs{}G?v?zs


?sv??zw?y{zB|{}G~Pzzy^uzy9 v

9?}x?z1}G?y{z?} }Gv?zEaEvuzs

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