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S
Z
S : sistema de referencia externo
X2
S : sistema de referencia ligado a cuerpo
S
X3
ON : línea nodal (intersección de plano X1 –X2
θ con plano X–Y )
X
N
⋅
ω1 = φ·sen(θ)·sen(ψ)
⋅
+ θ·cos(ψ) φ⋅ = [ ω1·sen(ψ) + ω2·cos(ψ) ] / sen(θ)
⋅
ω2 = φ·sen(θ)·cos(ψ)
⋅
- θ·sen(ψ)
⋅
θ = ω1·cos(ψ) - ω2·sen(ψ)
⋅
ω3 = φ·cos(θ) ⋅
+ψ ψ⋅ = ω3 - φ·cos(θ)
⋅