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6.78 Using the Eulerian angles (p, 0, w) discussed in this section, express @8/9 in (terms of its components in) the frame 72. @ 813

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6.78 Using the Eulerian angles (p, 0, w) discussed in this section, express @8/9 in (terms of its components in) the frame 72. @ 813 = ( S , 0 - socucb ) i + ( cy @ + sosub); + (is + cob)k (6.61) > yu,y 2 D. X 1 X 2 (c) Second Eulerian angle rotation (0), about y1

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