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𝑍1

𝜃
𝑟 𝑍
𝜉 ˙ 𝛿𝑟 𝐹 2,3
𝜔 𝜑 =𝜑

𝑦1 𝜂 𝑣𝑐 𝜃
3
𝑀𝜃
𝑣𝑐 𝜑 𝐶 𝜃 𝜑
𝜔 𝜑 =𝜃˙
𝐺2 2
𝐴 𝑣 𝑐𝑟
𝐺3 𝑥
3

𝐺 𝑀𝜑

𝐺1 1
𝑥1

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