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+0+20102 cos) cosec 0
gm3 m cos0)cos 0
a
m Cos + m2 + m3 +m cot 2 a
a=
mg(1+ cos0) sina
M+m(1+cos cosa) +sin
-
.
a .
a
21
43upward
1 1
+
m m2 m sina.cosa -m2 sinBcosß -(sina +sinß)(cosa cosß),
. '
.
-
1 1
mmm2
g +mm sin a tma sin p)+ (cosa -cois p)2