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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)