tai) Va)ii) ast Paper 2004 /2010 DarcosG , yar sine Ox ax By ‘ar =Cos@ , ae =-rsinO, Br =Sin@, de =rcosG, un Flyy) where beth x and y are in tecms of r and & Bu Ba Bx ar = an or + «> 2x @r uy Bu Bx Bu a Be 2s 3e + Dy 2° x (- sig) + By (cos 6) ae = —CSin& Bx +rcosO By - a ae) ~ 56 (sin Sx trcos€ 33) (a 2 a (% ~rsin€) " ~~ lay 2. 6 SS Se ees pr? Pe (ews) (8 & oe a(S eo oe + 35, (33) 32 7 ast (-rsio®) + = (xccos®) x0 (3 aa, (35 x y 3y Eas ae = BS (-esine) 45s ? (cos 8) ae (-rsinb)=-rcosO , FH (cose) = -rsinb,Va) iii) a =rsiq oft sind | SY a cos 9 ae ( ES (-ros +(rwse) (-rsin€ 3 arog +vcos® BE Be) ay (-¥ sin8)) = 1" sin Bae Pt ae 25; .0cosB5a35 ~ ros Be oe — x*sin6 cos By + cos*& yn By = -rws8 Sy sing - 3 AC sint@ Bat Ems tr wse Er ~ 2 sinOcosO Bxd5 5 a5 required. = oe (B) =F (cs6 BE +5100 3) = CosO e ey) Et Bale ae tsino (2 88) + 3S (& sino ae or 2 Br cos@ =O, 2 sino =0 2 (S38 +2 [R)B ae = Be (iosb) 5 Blea) 2(&) -A2 (RYE Be = Bs Coe) +3 (sin€) 2S ete ay, cos + Baby sind) +O £5100 (dxdy Ws +33 sin’) +0 ah ae eA Or? = COS*O Baz gicos® pe Oy Pa Sin G cosP aay tsin°& ge. ap ot Oa OU (os'8 Bak +2eac6 sin Gwoy -sin’@ By.\ N. Btw { 6B : Mu jon Oe tk Be te Bet Bs “(es 8 Es gt 2cos8 Sing 895 pads +tsinG En 3) 4+ (cos@ 5845108 35) th(~ rcos6 ox = —rsin® 2, See = AC sin Dat tr ws'6ayt ~2e7* Si wos B 22) = wee ot + Qees 0S Sol Oxy, eae + Sos See ® +Sin*® Bae er “ER +cse oy A ocd erey = (ose tsinte) SE + (co tsi) es eos ay = FS BS as cequiced, 7 oF 7? =u yr dy Ben pw is 0:2% +00 smal).