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w2=(OA*BC*sin(fi1-fi3))/(AB*BC*sin(fi3-fi2)

w3=(OA*AB*sin(fi2-fi1))/(AB*BC*sin(fi3-fi2)
vAx=-OA*sin(fi1)*w1;
vAy=OA*cos(fi1)*w1;
vA=sqrt(vAx^2+vAy^2)
vBx=vAx-AB*sin(fi2)*w2;
vBy=vAy-AB*cos(fi2)*w2;
vB=sqrt(vBx^2+vBy^2)
vDx=vAx-AD*sin(fi2+alfa)*w2;
vDy=vAy-AD*cos(fi2+alfa)*w2;
vD=sqrt(vDx^2+vDy^2)
vC1x=vAx/2;
vC1y=vAy/2;
vC1=sqrt(vC1x^2+vC1y^2)
vC2x=