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A=[-r3*sin(-0.4695) r4*sin(-1.9854); -r3*cos(-0.4695) r4*cos(-1.

9854)]

>> B=[r2*0*sin(0)+r2*(0.1745^2)*cos(pi)+r3*((0.0373)^2)*cos(-0.4695)-r4*(0.0373^2)*cos(-1.9854);

r2*0*cos(0)-r2*(0.1745^2)*sin(pi)-r3*(0.0373^2)*sin(-0.4695)+r4*(0.0373^2)*sin(-1.9854)]

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