Formulario:

𝐸1
𝐾1 =
𝐸2
𝐸1
𝐾2 =
𝐸4
(𝐸1 )2 + (𝐸2 )2 + (𝐸4 ) 2 − (𝐸3 )2
𝐾3 =
2(𝐸2 )(𝐸4 )
𝐸1
𝐾4 =
𝐸3
(𝐸4 )2 − (𝐸3 )2 − (𝐸2 ) 2 − (𝐸1 )2
𝐾5 =
2(𝐸2 )(𝐸3 )

𝐴 = 𝐾3 − 𝐾1 − 𝐾2 𝐶𝑜𝑠(𝜃2 ) + 𝐶𝑜𝑠(𝜃2 )

𝐵 = −2𝑆𝑒𝑛(𝜃2 )

𝐶 = 𝐾3 + 𝐾1 − (𝐾2 + 1)𝐶𝑜𝑠(𝜃2 )

𝐷 = 𝐾4 𝐶𝑜𝑠(𝜃2 ) + Cos(𝜃2 ) + 𝐾5 − 𝐾1

𝐸 = −2𝑆𝑒𝑛(𝜃2 )

𝐹 = (𝐾4 − 1)𝐶𝑜𝑠(𝜃2 ) + 𝐾5 + 𝐾1

−𝐸 ∓ √𝐸 2 − 4(𝐷)(𝐹)
𝜃3.3́ = 2𝐴𝑟𝑐𝑡𝑎𝑛 ( )
2(𝐷)

−𝐵 ∓ √𝐵 2 − 4(𝐴)(𝐶)
𝜃4.4́ = 2𝐴𝑟𝑐𝑡𝑎𝑛 ( )
2(𝐴)
 𝐸2 ∙ 𝑊2 𝑆𝑖𝑛(𝜃4 − 𝜃2 ) 𝐸2 ∙ 𝑊2 𝑆𝑖𝑛(𝜃2 − 𝜃3 )
𝑊3 = ( ) 𝑊4 = ( )
𝐸3 𝑆𝑖𝑛(𝜃3 − 𝜃4 ) 𝐸4 𝑆𝑖𝑛(𝜃4 − 𝜃3 )

𝑉𝐴 = 𝐸2 ∙ 𝑊2 (− sin(𝜃2 ) + 𝑖𝐶𝑜𝑠(𝜃2 ))

𝑉𝐵𝐴 = 𝐸3 ∙ 𝑊3 (− sin(𝜃3 ) + 𝑖𝐶𝑜𝑠(𝜃3 ))

𝑉𝐵 = 𝐸4 ∙ 𝑊4 (− sin(𝜃4 ) + 𝑖𝐶𝑜𝑠(𝜃4 ))

𝑦
𝜃𝐴 = 𝑇𝑎𝑛−1 ( ) , |𝐴| = √(𝑦)2 + (𝑥)2
𝑥

𝑦
𝜃𝐵𝐴 = 𝑇𝑎𝑛−1 ( ) , |𝐵𝐴| = √(𝑦)2 + (𝑥)2
𝑥

𝑦
𝜃𝐵 = 𝑇𝑎𝑛−1 ( ) , |𝐵| = √(𝑦)2 + (𝑥)2
𝑥
 𝐴 = 𝐸4 𝑆𝑖𝑛(𝜃4 )

𝐵 = 𝐸3 𝑆𝑖𝑛(𝜃3 )

𝐶 = 𝐸2 𝛼2 𝑆𝑖𝑛(𝜃2 ) + 𝐸2 (𝑊2 )2 𝐶𝑜𝑠(𝜃2 ) + 𝐸3 (𝑊3 )2 𝐶𝑜𝑠(𝜃3 ) − 𝐸4 (𝑊4 )2 𝐶𝑜𝑠(𝜃4 )

𝐷 = 𝐸4 𝐶𝑜𝑠(𝜃4 )

𝐸 = 𝐸3 𝐶𝑜𝑠(𝜃3 )

𝐹 = 𝐸2 𝛼2 𝐶𝑜𝑠(𝜃2 ) − 𝐸2 (𝑊2 )2 𝑆𝑖𝑛(𝜃2 ) − 𝐸3 (𝑊3 )2 𝑆𝑖𝑛(𝜃3 ) + 𝐸4 (𝑊4 )2 𝑆𝑖𝑛(𝜃4 )

𝐶𝐷 − 𝐴𝐹 𝐶𝐸 − 𝐵𝐹
𝛼3 = 𝛼4 =
𝐴𝐸 − 𝐵𝐷 𝐴𝐸 − 𝐵𝐷

𝐴𝐴 = 𝐸2 𝛼2 (−𝑆𝑖𝑛(𝜃2 ) + 𝑖𝐶𝑜𝑠(𝜃2 )) − 𝐸2 (𝑊2 )2 (𝐶𝑜𝑠(𝜃2 ) + 𝑖𝑆𝑖𝑛(𝜃2 ))

𝐴𝐵𝐴 = 𝐸3 𝛼3 (−𝑆𝑖𝑛(𝜃3 ) + 𝑖𝐶𝑜𝑠(𝜃3 )) − 𝐸3 (𝑊3 )2 (𝐶𝑜𝑠(𝜃3 ) + 𝑖𝑆𝑖𝑛(𝜃3 ))

𝐴𝐵 = 𝐸4 𝛼4 (−𝑆𝑖𝑛(𝜃4 ) + 𝑖𝐶𝑜𝑠(𝜃4 )) − 𝐸4 (𝑊4 )2 (𝐶𝑜𝑠(𝜃4 ) + 𝑖𝑆𝑖𝑛(𝜃4 ))