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1 0 0 0 0 0 −senθ−μcosθ 0 0 0 Ax

[ ][ ]
0 1 0 0 0 0 cosθ−μsenθ 0 0 0 Ay
0 0 0 0 0 0 s 0 1 0 Bx
0 0 1 0 1 0 0 0 0 0 By
0 0 0 1 0 1 0 0 0 0 Cx
a= =
0 0 −sen ∅ L2 cos ∅ L2 0 0 0 0 0 −1 Cy ¿
0 0 −cosθ −senθ 0 0 μ 1 0 0 N
0 0 senθ −cosθ 0 0 −1 0 0 0 F
0 0 0 0 0 0 0 0 1 0 M 1
0 0 0 0 0 0 0 1 0 0 M2

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