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ySEOeLXgzFcY,04.2.8,3,_n̗͊w,(2)y-K,B-1=(,cos,sin,0,-sin,cos,0,0,0,1,)(,cos,0,-sin,0,1,0,sin,0,cos,)(,cos,sin,0,-sin,cos,0,0,0,1),x3,x'3,x1,,x'2,,,x2,x'1,(,(B-1)11,(B-1)21,(B-1)31,)=(,-sinsin+coscoscos,-cossin-sincoscos,sincos,),(,(B-1)12,(B-1)22,(B-1)32,)=(,sincos+coscossin,coscos-sincossin,sinsin,),(,(B-1)13,(B-1)23,(B-1)33,)=(,-cossin,sinsin,cos,)