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pi-1

pi-2

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P(x y z)

r = [x y z] N = [A B C]
N°(r - rp) = 0

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2

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L1 = N1

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1) N
A
N

A
PQ Q
P

AxPQ = N

r r
P Q

y
x
L
2) pi-1

N2 N2 N2

N1
L N1
L
L
L = N1 x N2 N1

pi-2
3)

5)

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