

𝐴𝑖 0 0
𝐼̿ [0 𝐴𝑖 0]
0 0 𝐶𝑖 (𝑥⃗,𝑦⃗⃗,𝑧⃗)
𝑅 𝐿𝑖 𝑅𝑖
𝐴𝑖 = 𝑚𝑖 ( 𝑖 + ) 𝐶𝑖 = 𝑚𝑖
4 12 2

𝑥⃗ 𝑦⃗ 𝑧⃗)
 𝑥⃗ 𝑦⃗ 𝑧⃗






𝐼3 0 0 𝐼4 −𝐹4 0
𝐼̿ [0 𝐽3 0] 𝐼̿ [−𝐹4 𝐽4 0]
0 0 𝐾3 (𝑥⃗,𝑢⃗⃗⃗⃗⃗⃗,𝑣⃗⃗⃗⃗⃗) 0 0 𝐾4 (𝑥⃗,𝑢⃗⃗⃗⃗⃗⃗,𝑣⃗⃗⃗⃗⃗)
3 3 3 3
𝑥⃗

𝑥⃗ 𝑥⃗ 𝑥⃗

⃗⃗⃗⃗⃗⃗⃗⃗
𝐵𝐺3 = 𝑙𝑢 ⃗⃗⃗⃗⃗3 ⃗⃗⃗⃗⃗⃗⃗⃗
𝐶𝐺4 = 𝐿𝑢 ⃗⃗⃗⃗⃗4
𝑥 = ⃗⃗⃗⃗⃗⃗⃗⃗
𝑂0 𝐴. 𝑥⃗ ⃗⃗⃗⃗⃗⃗
𝐵𝐶 = 2𝑙𝑢 ⃗⃗⃗⃗⃗3
𝑦⃗ ⃗⃗⃗⃗⃗
u3 z⃗ ⃗⃗⃗⃗
v3  u3 ⃗⃗⃗⃗⃗
⃗⃗⃗⃗⃗ u4 v3 ⃗⃗⃗⃗
⃗⃗⃗⃗ v4 

⃗⃗⃗
𝛿

𝑥⃗ 𝑥⃗ ⃗⃗⃗
𝛿 (B, (3,4)/R0 )
  1U2U3U4