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ยป9 cos^ + if sin9 sin <f> >0sin$-^sin0cos$

Either Eq. (16-11) or Eq. (16-14) can be used to show that

Similar relations can be derived for other Euler axis sequences and are collected in Appendix E. When the third axis is identical with the first, the kinematic equations are singular when 9 is a multiple of 180 deg; when the first and third axes are different, the equations are singular when 9 is an odd multiple of 90 deg, as expected.

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