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(S1) Rotation equation: ๐›พ#-4(2)-2+๐›ฝ(๐œ“(๐‘ก))-.$(0,2)-0=๐‘ƒ๐ธ(๐‘ก)๐‘๐‘œ๐‘ ๐œ“(๐‘ก)=ฮ“(๐‘ก) (S2) where ๐›ฟ(๐œ“)= ๐›ผ#๐‘ ๐‘–๐‘›$๐œ“๐‘๐‘œ๐‘ $๐œ“+#$[๐›พ$๐‘๐‘œ๐‘ 2๐œ“+๐›ผ'+๐›ผ%+๐›ผ&] (S3) ๐›ฝ(๐œ“)=โˆ’#$[๐›พ$๐‘๐‘œ๐‘ 2๐œ“+๐›พ#]

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