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22|| bav 0 1 || )(sen v b || )(cos v a a b )(tg 30° 45° 60° 2 1 2 2 2 3 2 3 2 2 2 1 3 3 1 3 v v 0v 0 R ACvu ACBCAB ACvu ACADAB vuvu )( DBvu DBCBDC u v vu vu v nvvv ,...,, 21 v nvvv ,...,, 21 nnvvvv 2211 Rn,...,, 21 R2 R3 R2 jyixv ),( yxv AB ),( AA yxA ),( BB yxB 22 )()(|| ABAB yyxxAB AB AB xx yy )(tg AB OAOBAB 21 ... vkvkvk ),( 21 vvv Rk 2121. yyxxvu jyixu 11 jyixv 22 cos.||.||. vuvu 1800 R3 kzjyixv ),,( zyxv 222|| zyxv AB 222 )()()(|| ABABAB zzyyxxAB ),,( AAA zyxA ),,( BBB zyxB 321 .... vkvkvkvk ),,( 321 vvvv Rk 212121. zzyyxxvu kzjyixu 111 kzjyixv 222 cos.||.||. vuvu u v 1800 ),,( 321 aaaa ),,( 321 bbbb kbabajbabaibaba bbb aaa kji ba )()()( 122131132332 321 321 Rn ),...,,( 2211 nn vuvuvuvu ),...,,( 21 nuuuu ),...,,( 21 nvvvv ),...,,( 2211 nn vuvuvuvu ),...,,( 21 nuuuu ),...,,( 21 nvvvv nvkvkvkvk .... 21 ),...,,( 21 nvvvv Rk nn vuvuvuvu .... 2211 ),...,,( 21 nuuuu ),...,,( 21 nvvvv baxy a b ).( 00 xxmyy AB AB xx yy m ) ,() ,( 00 AA yxyx ) ,() ,( 00 BB yxyx 0cbyax )direçãovetor ()posiçãovetor ()( ttr Rt R2 ),.(),()( BBAA yxtyxtr R3 ),,.(),,()( BBBAAA zyxtzyxtr R2 BA BA ytyy xtxx . . R3 BA BA BA ztzz ytyy xtxx . . . ||.|| |.| cos vu vu 2 0 0. 2121 vvrr 1v 2v 1r 2r 1r 2r 1r 2r 0 r1 r2 P 0dczbyax a b c n 000 czbyaxd 0.APn PA, vtutAP 21 u v PA, Rtt 21, 22110 22110 22110 ctctzz btbtyy atatxx 123312231213132321 333 222 111 ).( zyxzyxzyxzyxzyxzyx zyx zyx zyx wvu ) , ,( 111 zyxu ) , ,( 222 zyxv ) , ,( 333 zyxw 21 21 . . )cos( nn nn 900 R2 22 )()(||),( ABABBA yyxxABd R3 222),( )()()(|| ABABABBA zzyyxxABd || || ),( u vu d rP 22 00 ba cbyax d rP || ),( P=(x0, y0) r: ax+by+c=0 222 000 cba dczbyax d P || ),( P=(x0, y0, z0) : ax+by+cz+d=0 22 0 2 0 Ryyxx )()( 1 )()( 2 2 0 2 2 0 b yy a xx 1 )()( 2 2 0 2 2 0 b yy a xx 1 )()( 2 2 0 2 2 0 b yy a xx cbxaxy 2 x a acbb x 2 42 y (0, c) a acb a b V 4 4 , 2 2 cbyayx 2 x a acbb y 2 42 y (0, c) a b a acb V 2 , 4 42