A(x2, y2, z2) x2=a senθ y=0 z2=a cosθ 1a

a=x2+z2 Rb=s+c 3b
s s(t)=x2-sqrt(b2-c2-z2) 2c
157 rad/s w2

desplazamien vector b
θ x2 z2 s(t) x3 (i) y3 (j) z3(k) z2*w2
0° 0 1 2 2 2 -1 157
1° 0.017 1 2.017 2 2 -1 157
2° 0.035 0.999 2.035 2 2 -0.999 156.843
3° 0.052 0.999 2.052 2 2 -0.999 156.843
4° 0.07 0.998 2.071 2.001 2 -0.998 156.686
5° 0.087 0.996 2.089 2.002 2 -0.996 156.372
6° 0.105 0.995 2.107 2.002 2 -0.995 156.215
7° 0.122 0.993 2.125 2.003 2 -0.993 155.901
8° 0.139 0.99 2.144 2.005 2 -0.99 155.43
9° 0.156 0.988 2.162 2.006 2 -0.988 155.116
10 ° 0.174 0.985 2.181 2.007 2 -0.985 154.645
11 ° 0.191 0.982 2.2 2.009 2 -0.982 154.174
12 ° 0.208 0.978 2.219 2.011 2 -0.978 153.546
13 ° 0.225 0.974 2.238 2.013 2 -0.974 152.918
14 ° 0.242 0.97 2.257 2.015 2 -0.97 152.29
15 ° 0.259 0.966 2.276 2.017 2 -0.966 151.662
16 ° 0.276 0.961 2.295 2.019 2 -0.961 150.877
17 ° 0.292 0.956 2.313 2.021 2 -0.956 150.092
18 ° 0.309 0.951 2.333 2.024 2 -0.951 149.307
19 ° 0.326 0.946 2.352 2.026 2 -0.946 148.522
20 ° 0.342 0.94 2.371 2.029 2 -0.94 147.58
21 ° 0.358 0.934 2.39 2.032 2 -0.934 146.638
22 ° 0.375 0.927 2.41 2.035 2 -0.927 145.539
23 ° 0.391 0.921 2.429 2.038 2 -0.921 144.597
24 ° 0.407 0.914 2.448 2.041 2 -0.914 143.498
25 ° 0.423 0.906 2.467 2.044 2 -0.906 142.242
26 ° 0.438 0.899 2.485 2.047 2 -0.899 141.143
27 ° 0.454 0.891 2.505 2.051 2 -0.891 139.887
28 ° 0.469 0.883 2.523 2.054 2 -0.883 138.631
29 ° 0.485 0.875 2.543 2.058 2 -0.875 137.375
30 ° 0.5 0.866 2.562 2.062 2 -0.866 135.962
31 ° 0.515 0.857 2.58 2.065 2 -0.857 134.549
32 ° 0.53 0.848 2.599 2.069 2 -0.848 133.136
33 ° 0.545 0.839 2.618 2.073 2 -0.839 131.723
34 ° 0.559 0.829 2.636 2.077 2 -0.829 130.153
35 ° 0.574 0.819 2.655 2.081 2 -0.819 128.583
36 ° 0.588 0.809 2.673 2.085 2 -0.809 127.013
37 ° 0.602 0.799 2.69 2.088 2 -0.799 125.443
38 ° 0.616 0.788 2.709 2.093 2 -0.788 123.716
39 ° 0.629 0.777 2.726 2.097 2 -0.777 121.989
40 ° 0.643 0.766 2.744 2.101 2 -0.766 120.262
41 ° 0.656 0.755 2.761 2.105 2 -0.755 118.535
42 ° 0.669 0.743 2.778 2.109 2 -0.743 116.651
43 ° 0.682 0.731 2.795 2.113 2 -0.731 114.767
44 ° 0.695 0.719 2.812 2.117 2 -0.719 112.883
45 ° 0.707 0.707 2.828 2.121 2 -0.707 110.999
46 ° 0.719 0.695 2.844 2.125 2 -0.695 109.115
47 ° 0.731 0.682 2.861 2.13 2 -0.682 107.074
48 ° 0.743 0.669 2.877 2.134 2 -0.669 105.033
49 ° 0.755 0.656 2.893 2.138 2 -0.656 102.992
50 ° 0.766 0.643 2.908 2.142 2 -0.643 100.951
51 ° 0.777 0.629 2.923 2.146 2 -0.629 98.753
52 ° 0.788 0.616 2.938 2.15 2 -0.616 96.712
53 ° 0.799 0.602 2.953 2.154 2 -0.602 94.514
54 ° 0.809 0.588 2.966 2.157 2 -0.588 92.316
55 ° 0.819 0.574 2.98 2.161 2 -0.574 90.118
56 ° 0.829 0.559 2.994 2.165 2 -0.559 87.763
57 ° 0.839 0.545 3.008 2.169 2 -0.545 85.565
58 ° 0.848 0.53 3.02 2.172 2 -0.53 83.21
59 ° 0.857 0.515 3.033 2.176 2 -0.515 80.855
60 ° 0.866 0.5 3.045 2.179 2 -0.5 78.5
61 ° 0.875 0.485 3.058 2.183 2 -0.485 76.145
62 ° 0.883 0.469 3.069 2.186 2 -0.469 73.633
63 ° 0.891 0.454 3.08 2.189 2 -0.454 71.278
64 ° 0.899 0.438 3.092 2.193 2 -0.438 68.766
65 ° 0.906 0.423 3.102 2.196 2 -0.423 66.411
66 ° 0.914 0.407 3.113 2.199 2 -0.407 63.899
67 ° 0.921 0.391 3.123 2.202 2 -0.391 61.387
68 ° 0.927 0.375 3.131 2.204 2 -0.375 58.875
69 ° 0.934 0.358 3.141 2.207 2 -0.358 56.206
70 ° 0.94 0.342 3.15 2.21 2 -0.342 53.694
71 ° 0.946 0.326 3.158 2.212 2 -0.326 51.182
72 ° 0.951 0.309 3.166 2.215 2 -0.309 48.513
73 ° 0.956 0.292 3.173 2.217 2 -0.292 45.844
74 ° 0.961 0.276 3.18 2.219 2 -0.276 43.332
75 ° 0.966 0.259 3.187 2.221 2 -0.259 40.663
 76 ° 0.97 0.242 3.193 2.223 2 -0.242 37.994
77 ° 0.974 0.225 3.199 2.225 2 -0.225 35.325
78 ° 0.978 0.208 3.204 2.226 2 -0.208 32.656
79 ° 0.982 0.191 3.21 2.228 2 -0.191 29.987
80 ° 0.985 0.174 3.214 2.229 2 -0.174 27.318
81 ° 0.988 0.156 3.219 2.231 2 -0.156 24.492
82 ° 0.99 0.139 3.222 2.232 2 -0.139 21.823
83 ° 0.993 0.122 3.226 2.233 2 -0.122 19.154
84 ° 0.995 0.105 3.229 2.234 2 -0.105 16.485
85 ° 0.996 0.087 3.23 2.234 2 -0.087 13.659
86 ° 0.998 0.07 3.233 2.235 2 -0.07 10.99
87 ° 0.999 0.052 3.234 2.235 2 -0.052 8.164
88 ° 0.999 0.035 3.235 2.236 2 -0.035 5.495
89 ° 1 0.017 3.236 2.236 2 -0.017 2.669
90 ° 1 0 3.236 2.236 2 0 0
91 ° 1 -0.017 3.236 2.236 2 0.017 -2.669
92 ° 0.999 -0.035 3.235 2.236 2 0.035 -5.495
93 ° 0.999 -0.052 3.234 2.235 2 0.052 -8.164
94 ° 0.998 -0.07 3.233 2.235 2 0.07 -10.99
95 ° 0.996 -0.087 3.23 2.234 2 0.087 -13.659
96 ° 0.995 -0.105 3.229 2.234 2 0.105 -16.485
97 ° 0.993 -0.122 3.226 2.233 2 0.122 -19.154
98 ° 0.99 -0.139 3.222 2.232 2 0.139 -21.823
99 ° 0.988 -0.156 3.219 2.231 2 0.156 -24.492
100 ° 0.985 -0.174 3.214 2.229 2 0.174 -27.318
101 ° 0.982 -0.191 3.21 2.228 2 0.191 -29.987
102 ° 0.978 -0.208 3.204 2.226 2 0.208 -32.656
103 ° 0.974 -0.225 3.199 2.225 2 0.225 -35.325
104 ° 0.97 -0.242 3.193 2.223 2 0.242 -37.994
105 ° 0.966 -0.259 3.187 2.221 2 0.259 -40.663
106 ° 0.961 -0.276 3.18 2.219 2 0.276 -43.332
107 ° 0.956 -0.292 3.173 2.217 2 0.292 -45.844
108 ° 0.951 -0.309 3.166 2.215 2 0.309 -48.513
109 ° 0.946 -0.326 3.158 2.212 2 0.326 -51.182
110 ° 0.94 -0.342 3.15 2.21 2 0.342 -53.694
111 ° 0.934 -0.358 3.141 2.207 2 0.358 -56.206
112 ° 0.927 -0.375 3.131 2.204 2 0.375 -58.875
113 ° 0.921 -0.391 3.123 2.202 2 0.391 -61.387
114 ° 0.914 -0.407 3.113 2.199 2 0.407 -63.899
115 ° 0.906 -0.423 3.102 2.196 2 0.423 -66.411
116 ° 0.899 -0.438 3.092 2.193 2 0.438 -68.766
117 ° 0.891 -0.454 3.08 2.189 2 0.454 -71.278
118 ° 0.883 -0.469 3.069 2.186 2 0.469 -73.633
119 ° 0.875 -0.485 3.058 2.183 2 0.485 -76.145
120 ° 0.866 -0.5 3.045 2.179 2 0.5 -78.5
121 ° 0.857 -0.515 3.033 2.176 2 0.515 -80.855
122 ° 0.848 -0.53 3.02 2.172 2 0.53 -83.21
123 ° 0.839 -0.545 3.008 2.169 2 0.545 -85.565
124 ° 0.829 -0.559 2.994 2.165 2 0.559 -87.763
125 ° 0.819 -0.574 2.98 2.161 2 0.574 -90.118
126 ° 0.809 -0.588 2.966 2.157 2 0.588 -92.316
127 ° 0.799 -0.602 2.953 2.154 2 0.602 -94.514
128 ° 0.788 -0.616 2.938 2.15 2 0.616 -96.712
129 ° 0.777 -0.629 2.923 2.146 2 0.629 -98.753
130 ° 0.766 -0.643 2.908 2.142 2 0.643 -100.951
131 ° 0.755 -0.656 2.893 2.138 2 0.656 -102.992
132 ° 0.743 -0.669 2.877 2.134 2 0.669 -105.033
133 ° 0.731 -0.682 2.861 2.13 2 0.682 -107.074
134 ° 0.719 -0.695 2.844 2.125 2 0.695 -109.115
135 ° 0.707 -0.707 2.828 2.121 2 0.707 -110.999
136 ° 0.695 -0.719 2.812 2.117 2 0.719 -112.883
137 ° 0.682 -0.731 2.795 2.113 2 0.731 -114.767
138 ° 0.669 -0.743 2.778 2.109 2 0.743 -116.651
139 ° 0.656 -0.755 2.761 2.105 2 0.755 -118.535
140 ° 0.643 -0.766 2.744 2.101 2 0.766 -120.262
141 ° 0.629 -0.777 2.726 2.097 2 0.777 -121.989
142 ° 0.616 -0.788 2.709 2.093 2 0.788 -123.716
143 ° 0.602 -0.799 2.69 2.088 2 0.799 -125.443
144 ° 0.588 -0.809 2.673 2.085 2 0.809 -127.013
145 ° 0.574 -0.819 2.655 2.081 2 0.819 -128.583
146 ° 0.559 -0.829 2.636 2.077 2 0.829 -130.153
147 ° 0.545 -0.839 2.618 2.073 2 0.839 -131.723
148 ° 0.53 -0.848 2.599 2.069 2 0.848 -133.136
149 ° 0.515 -0.857 2.58 2.065 2 0.857 -134.549
150 ° 0.5 -0.866 2.562 2.062 2 0.866 -135.962
151 ° 0.485 -0.875 2.543 2.058 2 0.875 -137.375
152 ° 0.469 -0.883 2.523 2.054 2 0.883 -138.631
153 ° 0.454 -0.891 2.505 2.051 2 0.891 -139.887
154 ° 0.438 -0.899 2.485 2.047 2 0.899 -141.143
155 ° 0.423 -0.906 2.467 2.044 2 0.906 -142.242
156 ° 0.407 -0.914 2.448 2.041 2 0.914 -143.498
157 ° 0.391 -0.921 2.429 2.038 2 0.921 -144.597
158 ° 0.375 -0.927 2.41 2.035 2 0.927 -145.539
159 ° 0.358 -0.934 2.39 2.032 2 0.934 -146.638
160 ° 0.342 -0.94 2.371 2.029 2 0.94 -147.58
161 ° 0.326 -0.946 2.352 2.026 2 0.946 -148.522
162 ° 0.309 -0.951 2.333 2.024 2 0.951 -149.307
163 ° 0.292 -0.956 2.313 2.021 2 0.956 -150.092
164 ° 0.276 -0.961 2.295 2.019 2 0.961 -150.877
165 ° 0.259 -0.966 2.276 2.017 2 0.966 -151.662
166 ° 0.242 -0.97 2.257 2.015 2 0.97 -152.29
167 ° 0.225 -0.974 2.238 2.013 2 0.974 -152.918
168 ° 0.208 -0.978 2.219 2.011 2 0.978 -153.546
169 ° 0.191 -0.982 2.2 2.009 2 0.982 -154.174
170 ° 0.174 -0.985 2.181 2.007 2 0.985 -154.645
171 ° 0.156 -0.988 2.162 2.006 2 0.988 -155.116
172 ° 0.139 -0.99 2.144 2.005 2 0.99 -155.43
173 ° 0.122 -0.993 2.125 2.003 2 0.993 -155.901
174 ° 0.105 -0.995 2.107 2.002 2 0.995 -156.215
175 ° 0.087 -0.996 2.089 2.002 2 0.996 -156.372
176 ° 0.07 -0.998 2.071 2.001 2 0.998 -156.686
177 ° 0.052 -0.999 2.052 2 2 0.999 -156.843
178 ° 0.035 -0.999 2.035 2 2 0.999 -156.843
179 ° 0.017 -1 2.017 2 2 1 -157
180 ° 0 -1 2 2 2 1 -157
181 ° -0.017 -1 1.983 2 2 1 -157
182 ° -0.035 -0.999 1.965 2 2 0.999 -156.843
183 ° -0.052 -0.999 1.948 2 2 0.999 -156.843
184 ° -0.07 -0.998 1.931 2.001 2 0.998 -156.686
185 ° -0.087 -0.996 1.915 2.002 2 0.996 -156.372
186 ° -0.105 -0.995 1.897 2.002 2 0.995 -156.215
187 ° -0.122 -0.993 1.881 2.003 2 0.993 -155.901
188 ° -0.139 -0.99 1.866 2.005 2 0.99 -155.43
189 ° -0.156 -0.988 1.85 2.006 2 0.988 -155.116
190 ° -0.174 -0.985 1.833 2.007 2 0.985 -154.645
191 ° -0.191 -0.982 1.818 2.009 2 0.982 -154.174
192 ° -0.208 -0.978 1.803 2.011 2 0.978 -153.546
193 ° -0.225 -0.974 1.788 2.013 2 0.974 -152.918
194 ° -0.242 -0.97 1.773 2.015 2 0.97 -152.29
195 ° -0.259 -0.966 1.758 2.017 2 0.966 -151.662
196 ° -0.276 -0.961 1.743 2.019 2 0.961 -150.877
197 ° -0.292 -0.956 1.729 2.021 2 0.956 -150.092
198 ° -0.309 -0.951 1.715 2.024 2 0.951 -149.307
199 ° -0.326 -0.946 1.7 2.026 2 0.946 -148.522
200 ° -0.342 -0.94 1.687 2.029 2 0.94 -147.58
201 ° -0.358 -0.934 1.674 2.032 2 0.934 -146.638
202 ° -0.375 -0.927 1.66 2.035 2 0.927 -145.539
203 ° -0.391 -0.921 1.647 2.038 2 0.921 -144.597
204 ° -0.407 -0.914 1.634 2.041 2 0.914 -143.498
205 ° -0.423 -0.906 1.621 2.044 2 0.906 -142.242
206 ° -0.438 -0.899 1.609 2.047 2 0.899 -141.143
207 ° -0.454 -0.891 1.597 2.051 2 0.891 -139.887
208 ° -0.469 -0.883 1.585 2.054 2 0.883 -138.631
209 ° -0.485 -0.875 1.573 2.058 2 0.875 -137.375
210 ° -0.5 -0.866 1.562 2.062 2 0.866 -135.962
211 ° -0.515 -0.857 1.55 2.065 2 0.857 -134.549
212 ° -0.53 -0.848 1.539 2.069 2 0.848 -133.136
213 ° -0.545 -0.839 1.528 2.073 2 0.839 -131.723
214 ° -0.559 -0.829 1.518 2.077 2 0.829 -130.153
215 ° -0.574 -0.819 1.507 2.081 2 0.819 -128.583
216 ° -0.588 -0.809 1.497 2.085 2 0.809 -127.013
217 ° -0.602 -0.799 1.486 2.088 2 0.799 -125.443
218 ° -0.616 -0.788 1.477 2.093 2 0.788 -123.716
219 ° -0.629 -0.777 1.468 2.097 2 0.777 -121.989
220 ° -0.643 -0.766 1.458 2.101 2 0.766 -120.262
221 ° -0.656 -0.755 1.449 2.105 2 0.755 -118.535
222 ° -0.669 -0.743 1.44 2.109 2 0.743 -116.651
223 ° -0.682 -0.731 1.431 2.113 2 0.731 -114.767
224 ° -0.695 -0.719 1.422 2.117 2 0.719 -112.883
225 ° -0.707 -0.707 1.414 2.121 2 0.707 -110.999
226 ° -0.719 -0.695 1.406 2.125 2 0.695 -109.115
227 ° -0.731 -0.682 1.399 2.13 2 0.682 -107.074
228 ° -0.743 -0.669 1.391 2.134 2 0.669 -105.033
229 ° -0.755 -0.656 1.383 2.138 2 0.656 -102.992
230 ° -0.766 -0.643 1.376 2.142 2 0.643 -100.951
231 ° -0.777 -0.629 1.369 2.146 2 0.629 -98.753
232 ° -0.788 -0.616 1.362 2.15 2 0.616 -96.712
233 ° -0.799 -0.602 1.355 2.154 2 0.602 -94.514
234 ° -0.809 -0.588 1.348 2.157 2 0.588 -92.316
235 ° -0.819 -0.574 1.342 2.161 2 0.574 -90.118
236 ° -0.829 -0.559 1.336 2.165 2 0.559 -87.763
237 ° -0.839 -0.545 1.33 2.169 2 0.545 -85.565
238 ° -0.848 -0.53 1.324 2.172 2 0.53 -83.21
239 ° -0.857 -0.515 1.319 2.176 2 0.515 -80.855
240 ° -0.866 -0.5 1.313 2.179 2 0.5 -78.5
241 ° -0.875 -0.485 1.308 2.183 2 0.485 -76.145
242 ° -0.883 -0.469 1.303 2.186 2 0.469 -73.633
243 ° -0.891 -0.454 1.298 2.189 2 0.454 -71.278
244 ° -0.899 -0.438 1.294 2.193 2 0.438 -68.766
245 ° -0.906 -0.423 1.29 2.196 2 0.423 -66.411
246 ° -0.914 -0.407 1.285 2.199 2 0.407 -63.899
247 ° -0.921 -0.391 1.281 2.202 2 0.391 -61.387
248 ° -0.927 -0.375 1.277 2.204 2 0.375 -58.875
249 ° -0.934 -0.358 1.273 2.207 2 0.358 -56.206
250 ° -0.94 -0.342 1.27 2.21 2 0.342 -53.694
251 ° -0.946 -0.326 1.266 2.212 2 0.326 -51.182
252 ° -0.951 -0.309 1.264 2.215 2 0.309 -48.513
253 ° -0.956 -0.292 1.261 2.217 2 0.292 -45.844
254 ° -0.961 -0.276 1.258 2.219 2 0.276 -43.332
255 ° -0.966 -0.259 1.255 2.221 2 0.259 -40.663
256 ° -0.97 -0.242 1.253 2.223 2 0.242 -37.994
257 ° -0.974 -0.225 1.251 2.225 2 0.225 -35.325
258 ° -0.978 -0.208 1.248 2.226 2 0.208 -32.656
259 ° -0.982 -0.191 1.246 2.228 2 0.191 -29.987
260 ° -0.985 -0.174 1.244 2.229 2 0.174 -27.318
261 ° -0.988 -0.156 1.243 2.231 2 0.156 -24.492
262 ° -0.99 -0.139 1.242 2.232 2 0.139 -21.823
263 ° -0.993 -0.122 1.24 2.233 2 0.122 -19.154
264 ° -0.995 -0.105 1.239 2.234 2 0.105 -16.485
265 ° -0.996 -0.087 1.238 2.234 2 0.087 -13.659
266 ° -0.998 -0.07 1.237 2.235 2 0.07 -10.99
267 ° -0.999 -0.052 1.236 2.235 2 0.052 -8.164
268 ° -0.999 -0.035 1.237 2.236 2 0.035 -5.495
269 ° -1 -0.017 1.236 2.236 2 0.017 -2.669
270 ° -1 0 1.236 2.236 2 0 0
271 ° -1 0.017 1.236 2.236 2 -0.017 2.669
272 ° -0.999 0.035 1.237 2.236 2 -0.035 5.495
273 ° -0.999 0.052 1.236 2.235 2 -0.052 8.164
274 ° -0.998 0.07 1.237 2.235 2 -0.07 10.99
275 ° -0.996 0.087 1.238 2.234 2 -0.087 13.659
276 ° -0.995 0.105 1.239 2.234 2 -0.105 16.485
277 ° -0.993 0.122 1.24 2.233 2 -0.122 19.154
278 ° -0.99 0.139 1.242 2.232 2 -0.139 21.823
279 ° -0.988 0.156 1.243 2.231 2 -0.156 24.492
280 ° -0.985 0.174 1.244 2.229 2 -0.174 27.318
281 ° -0.982 0.191 1.246 2.228 2 -0.191 29.987
282 ° -0.978 0.208 1.248 2.226 2 -0.208 32.656
283 ° -0.974 0.225 1.251 2.225 2 -0.225 35.325
284 ° -0.97 0.242 1.253 2.223 2 -0.242 37.994
285 ° -0.966 0.259 1.255 2.221 2 -0.259 40.663
286 ° -0.961 0.276 1.258 2.219 2 -0.276 43.332
287 ° -0.956 0.292 1.261 2.217 2 -0.292 45.844
288 ° -0.951 0.309 1.264 2.215 2 -0.309 48.513
289 ° -0.946 0.326 1.266 2.212 2 -0.326 51.182
290 ° -0.94 0.342 1.27 2.21 2 -0.342 53.694
291 ° -0.934 0.358 1.273 2.207 2 -0.358 56.206
292 ° -0.927 0.375 1.277 2.204 2 -0.375 58.875
293 ° -0.921 0.391 1.281 2.202 2 -0.391 61.387
294 ° -0.914 0.407 1.285 2.199 2 -0.407 63.899
295 ° -0.906 0.423 1.29 2.196 2 -0.423 66.411
296 ° -0.899 0.438 1.294 2.193 2 -0.438 68.766
297 ° -0.891 0.454 1.298 2.189 2 -0.454 71.278
298 ° -0.883 0.469 1.303 2.186 2 -0.469 73.633
299 ° -0.875 0.485 1.308 2.183 2 -0.485 76.145
300 ° -0.866 0.5 1.313 2.179 2 -0.5 78.5
301 ° -0.857 0.515 1.319 2.176 2 -0.515 80.855
302 ° -0.848 0.53 1.324 2.172 2 -0.53 83.21
303 ° -0.839 0.545 1.33 2.169 2 -0.545 85.565
304 ° -0.829 0.559 1.336 2.165 2 -0.559 87.763
305 ° -0.819 0.574 1.342 2.161 2 -0.574 90.118
306 ° -0.809 0.588 1.348 2.157 2 -0.588 92.316
307 ° -0.799 0.602 1.355 2.154 2 -0.602 94.514
308 ° -0.788 0.616 1.362 2.15 2 -0.616 96.712
309 ° -0.777 0.629 1.369 2.146 2 -0.629 98.753
310 ° -0.766 0.643 1.376 2.142 2 -0.643 100.951
311 ° -0.755 0.656 1.383 2.138 2 -0.656 102.992
312 ° -0.743 0.669 1.391 2.134 2 -0.669 105.033
313 ° -0.731 0.682 1.399 2.13 2 -0.682 107.074
314 ° -0.719 0.695 1.406 2.125 2 -0.695 109.115
315 ° -0.707 0.707 1.414 2.121 2 -0.707 110.999
316 ° -0.695 0.719 1.422 2.117 2 -0.719 112.883
317 ° -0.682 0.731 1.431 2.113 2 -0.731 114.767
318 ° -0.669 0.743 1.44 2.109 2 -0.743 116.651
319 ° -0.656 0.755 1.449 2.105 2 -0.755 118.535
320 ° -0.643 0.766 1.458 2.101 2 -0.766 120.262
321 ° -0.629 0.777 1.468 2.097 2 -0.777 121.989
322 ° -0.616 0.788 1.477 2.093 2 -0.788 123.716
323 ° -0.602 0.799 1.486 2.088 2 -0.799 125.443
324 ° -0.588 0.809 1.497 2.085 2 -0.809 127.013
325 ° -0.574 0.819 1.507 2.081 2 -0.819 128.583
326 ° -0.559 0.829 1.518 2.077 2 -0.829 130.153
327 ° -0.545 0.839 1.528 2.073 2 -0.839 131.723
328 ° -0.53 0.848 1.539 2.069 2 -0.848 133.136
329 ° -0.515 0.857 1.55 2.065 2 -0.857 134.549
330 ° -0.5 0.866 1.562 2.062 2 -0.866 135.962
331 ° -0.485 0.875 1.573 2.058 2 -0.875 137.375
332 ° -0.469 0.883 1.585 2.054 2 -0.883 138.631
333 ° -0.454 0.891 1.597 2.051 2 -0.891 139.887
334 ° -0.438 0.899 1.609 2.047 2 -0.899 141.143
335 ° -0.423 0.906 1.621 2.044 2 -0.906 142.242
336 ° -0.407 0.914 1.634 2.041 2 -0.914 143.498
337 ° -0.391 0.921 1.647 2.038 2 -0.921 144.597
338 ° -0.375 0.927 1.66 2.035 2 -0.927 145.539
339 ° -0.358 0.934 1.674 2.032 2 -0.934 146.638
340 ° -0.342 0.94 1.687 2.029 2 -0.94 147.58
341 ° -0.326 0.946 1.7 2.026 2 -0.946 148.522
342 ° -0.309 0.951 1.715 2.024 2 -0.951 149.307
343 ° -0.292 0.956 1.729 2.021 2 -0.956 150.092
344 ° -0.276 0.961 1.743 2.019 2 -0.961 150.877
345 ° -0.259 0.966 1.758 2.017 2 -0.966 151.662
346 ° -0.242 0.97 1.773 2.015 2 -0.97 152.29
347 ° -0.225 0.974 1.788 2.013 2 -0.974 152.918
348 ° -0.208 0.978 1.803 2.011 2 -0.978 153.546
349 ° -0.191 0.982 1.818 2.009 2 -0.982 154.174
350 ° -0.174 0.985 1.833 2.007 2 -0.985 154.645
351 ° -0.156 0.988 1.85 2.006 2 -0.988 155.116
352 ° -0.139 0.99 1.866 2.005 2 -0.99 155.43
353 ° -0.122 0.993 1.881 2.003 2 -0.993 155.901
354 ° -0.105 0.995 1.897 2.002 2 -0.995 156.215
355 ° -0.087 0.996 1.915 2.002 2 -0.996 156.372
356 ° -0.07 0.998 1.931 2.001 2 -0.998 156.686
357 ° -0.052 0.999 1.948 2 2 -0.999 156.843
358 ° -0.035 0.999 1.965 2 2 -0.999 156.843
359 ° -0.017 1 1.983 2 2 -1 157
360 ° 0 1 2 2 2 -1 157
 velocidad l m n
(-x2*w2) vb rad /s wx wy wz z3wy-y3wz x3wz-z3wx y3wx-x3wy
0 157 0 0 0 0.000 0.000 0.000
-2.669
-5.495
-8.164
-10.99
-13.659 155.414 3.894 -2.932 1.939 -0.958 7.761 13.659
-16.485
-19.154
-21.823
-24.492
-27.318 152.855 7.741 -5.897 3.799 -1.790 15.250 27.318
-29.987
-32.656
-35.325
-37.994
-40.663 149.301 11.398 -8.858 5.459 -2.361 22.021 40.663
-43.332
-45.844
-48.513
-51.182
-53.694 144.943 14.846 -11.829 6.878 -2.637 27.911 53.694
-56.206
-58.875
-61.387
-63.899
-66.411 139.670 18.054 -14.826 8.002 -2.572 32.713 66.411
-68.766
-71.278
-73.633
-76.145
-78.5 133.773 20.928 -17.771 8.789 -2.189 36.247 78.500
-80.855
-83.21
 -85.565
-87.763
-90.118 127.008 23.530 -20.691 9.261 -1.575 38.542 90.118
-92.316
-94.514
-96.712
-98.753
-100.951 119.451 25.794 -23.495 9.404 -0.811 39.517 100.951
-102.992
-105.033
-107.074
-109.115
-110.999 110.993 27.754 -26.163 9.251 -0.006 39.244 110.999
-112.883
-114.767
-116.651
-118.535
-120.262 101.723 29.423 -28.672 8.832 0.772 37.838 120.262
-121.989
-123.716
-125.443
-127.013
-128.583 91.512 30.834 -30.965 8.190 1.394 35.397 128.583
-130.153
-131.723
-133.136
-134.549
-135.962 80.328 31.998 -33.027 7.342 1.828 31.998 135.962
-137.375
-138.631
-139.887
-141.143
-142.242 68.451 32.913 -34.798 6.340 2.040 27.844 142.242
-143.498
-144.597
-145.539
-146.638
-147.58 55.692 33.667 -36.311 5.210 1.998 23.028 147.580
-148.522
-149.307
-150.092
-150.877
-151.662 42.390 34.213 -37.477 3.990 1.727 17.722 151.662
 -152.29
-152.918
-153.546
-154.174
-154.645 28.585 34.603 -38.330 2.701 1.267 12.042 154.645
-155.116
-155.43
-155.901
-156.215
-156.372 14.326 34.814 -38.829 1.356 0.667 6.058 156.372
-156.686
-156.843
-156.843
-157
-157 0.000 34.890 -39.007 0.000 0.000 0.000 157.000
-157
-156.843
-156.843
-156.686
-156.372 -14.326 34.814 -38.829 -1.356 -0.667 -6.058 156.372
-156.215
-155.901
-155.43
-155.116
-154.645 -28.585 34.603 -38.330 -2.701 -1.267 -12.042 154.645
-154.174
-153.546
-152.918
-152.29
-151.662 -42.390 34.213 -37.477 -3.990 -1.727 -17.722 151.662
-150.877
-150.092
-149.307
-148.522
-147.58 -55.692 33.667 -36.311 -5.210 -1.998 -23.028 147.580
-146.638
-145.539
-144.597
-143.498
-142.242 -68.451 32.913 -34.798 -6.340 -2.040 -27.844 142.242
-141.143
-139.887
-138.631
-137.375
-135.962 -80.328 31.998 -33.027 -7.342 -1.828 -31.998 135.962
-134.549
-133.136
-131.723
-130.153
-128.583 -91.512 30.834 -30.965 -8.190 -1.394 -35.397 128.583
-127.013
-125.443
-123.716
-121.989
-120.262 -101.723 29.423 -28.672 -8.832 -0.772 -37.838 120.262
-118.535
-116.651
-114.767
-112.883
-110.999 -110.993 27.754 -26.163 -9.251 0.006 -39.244 110.999
-109.115
-107.074
-105.033
-102.992
-100.951 -119.451 25.794 -23.495 -9.404 0.811 -39.517 100.951
-98.753
-96.712
-94.514
-92.316
-90.118 -127.008 23.530 -20.691 -9.261 1.575 -38.542 90.118
-87.763
-85.565
-83.21
-80.855
-78.5 -133.773 20.928 -17.771 -8.789 2.189 -36.247 78.500
-76.145
-73.633
-71.278
-68.766
-66.411 -139.670 18.054 -14.826 -8.002 2.572 -32.713 66.411
-63.899
-61.387
-58.875
-56.206
-53.694 -144.943 14.846 -11.829 -6.878 2.637 -27.911 53.694
-51.182
-48.513
-45.844
-43.332
-40.663 -149.301 11.398 -8.858 -5.459 2.361 -22.021 40.663
-37.994
-35.325
-32.656
-29.987
-27.318 -152.855 7.741 -5.897 -3.799 1.790 -15.250 27.318
-24.492
-21.823
-19.154
-16.485
-13.659 -155.419 3.894 -2.933 -1.937 0.953 -7.756 13.659
-10.99
-8.164
-5.495
-2.669
0 -157.000 0.000 0.000 0.000 0.000 0.000 0.000
2.669
5.495
8.164
10.99
13.659 -157.325 -3.894 2.933 1.937 -0.953 7.756 -13.659
16.485
19.154
21.823
24.492
27.318 -156.435 -7.741 5.897 3.799 -1.790 15.250 -27.318
29.987
32.656
35.325
37.994
40.663 -154.023 -11.398 8.858 5.459 -2.361 22.021 -40.663
43.332
45.844
48.513
51.182
53.694 -150.217 -14.846 11.829 6.878 -2.637 27.911 -53.694
56.206
58.875
61.387
63.899
 66.411 -144.814 -18.054 14.826 8.002 -2.572 32.713 -66.411
68.766
71.278
73.633
76.145
78.5 -138.151 -20.928 17.771 8.789 -2.189 36.247 -78.500
80.855
83.21
85.565
87.763
90.118 -130.158 -23.530 20.691 9.261 -1.575 38.542 -90.118
92.316
94.514
96.712
98.753
100.951 -121.073 -25.794 23.495 9.404 -0.811 39.517 -100.951
102.992
105.033
107.074
109.115
110.999 -111.005 -27.754 26.163 9.251 -0.006 39.244 -110.999
112.883
114.767
116.651
118.535
120.262 -100.179 -29.423 28.672 8.832 0.772 37.838 -120.262
121.989
123.716
125.443
127.013
128.583 -88.724 -30.834 30.965 8.190 1.394 35.397 -128.583
130.153
131.723
133.136
134.549
135.962 -76.672 -31.998 33.027 7.342 1.828 31.998 -135.962
137.375
138.631
139.887
141.143
142.242 -64.371 -32.913 34.798 6.340 2.040 27.844 -142.242
143.498
144.597
145.539
146.638
147.58 -51.696 -33.667 36.311 5.210 1.998 23.028 -147.580
148.522
149.307
150.092
150.877
151.662 -38.936 -34.213 37.477 3.990 1.727 17.722 -151.662
152.29
152.918
153.546
154.174
154.645 -26.051 -34.603 38.330 2.701 1.267 12.042 -154.645
155.116
155.43
155.901
156.215
156.372 -12.992 -34.814 38.829 1.356 0.667 6.058 -156.372
156.686
156.843
156.843
157
157 0.000 -34.890 39.007 0.000 0.000 0.000 -157.000
157
156.843
156.843
156.686
156.372 12.992 -34.814 38.829 -1.356 -0.667 -6.058 -156.372
156.215
155.901
155.43
155.116
154.645 26.051 -34.603 38.330 -2.701 -1.267 -12.042 -154.645
154.174
153.546
152.918
152.29
151.662 38.936 -34.213 37.477 -3.990 -1.727 -17.722 -151.662
150.877
150.092
149.307
148.522
147.58 51.696 -33.667 36.311 -5.210 -1.998 -23.028 -147.580
146.638
145.539
144.597
143.498
142.242 64.371 -32.913 34.798 -6.340 -2.040 -27.844 -142.242
141.143
139.887
138.631
137.375
135.962 76.672 -31.998 33.027 -7.342 -1.828 -31.998 -135.962
134.549
133.136
131.723
130.153
128.583 88.724 -30.834 30.965 -8.190 -1.394 -35.397 -128.583
127.013
125.443
123.716
121.989
120.262 100.179 -29.423 28.672 -8.832 -0.772 -37.838 -120.262
118.535
116.651
114.767
112.883
110.999 111.005 -27.754 26.163 -9.251 0.006 -39.244 -110.999
109.115
107.074
105.033
102.992
100.951 121.073 -25.794 23.495 -9.404 0.811 -39.517 -100.951
98.753
96.712
94.514
92.316
90.118 130.158 -23.530 20.691 -9.261 1.575 -38.542 -90.118
87.763
85.565
83.21
80.855
78.5 138.151 -20.928 17.771 -8.789 2.189 -36.247 -78.500
76.145
73.633
71.278
68.766
66.411 144.814 -18.054 14.826 -8.002 2.572 -32.713 -66.411
63.899
61.387
58.875
56.206
53.694 150.217 -14.846 11.829 -6.878 2.637 -27.911 -53.694
51.182
48.513
45.844
43.332
40.663 154.023 -11.398 8.858 -5.459 2.361 -22.021 -40.663
37.994
35.325
32.656
29.987
27.318 156.435 -7.741 5.897 -3.799 1.790 -15.250 -27.318
24.492
21.823
19.154
16.485
13.659 157.325 -3.894 2.933 -1.937 0.953 -7.756 -13.659
10.99
8.164
5.495
2.669
0 157.000 0.000 0.000 0.000 0.000 0.000 0.000
p q r b1 b2 b3 aceleracion
nwy-mwz lwz-nwx mwx-lwy -X2*W2^2+p q -z2w2^2+r ab αx
0.000 0.000 0.000 0.000 0.000 24649.000 -12324.500 -5477.556

-55.104 -55.049 27.415 -2089.359 -55.049 24522.989 -14344.601 -5443.449

-219.038 -218.274 107.500 -4069.888 -218.274 24171.765 -16150.474 -5348.640

-480.410 -476.361 230.083 -5903.681 -476.361 23580.851 -17669.583 -5188.227

-827.125 -815.303 383.192 -7602.833 -815.303 22786.868 -18963.238 -4978.351

-1246.370 -1219.541 552.452 -9180.157 -1219.541 21779.542 -20027.195 -4717.775

-1713.618 -1662.093 719.686 -10610.882 -1662.093 20626.348 -20885.665 -4422.818

-2221.545 -2135.075 874.313 -11926.981 -2135.075 19313.218 -21579.876 -4096.933

-2743.456 -2611.572 1000.232 -13105.851 -2611.572 17880.902 -22111.046 -3750.861

-3267.094 -3080.711 1089.031 -14159.749 -3080.711 16337.812 -22510.647 -3389.186

-3782.391 -3531.645 1135.424 -15098.743 -3531.645 14713.883 -22813.176 -3016.895

-4271.497 -3953.260 1134.586 -15916.034 -3953.260 13013.940 -23031.499 -2640.034

-4725.320 -4337.146 1084.286 -16620.714 -4337.146 11240.214 -23180.786 -2257.364

-5126.226 -4668.694 987.429 -17205.768 -4668.694 9439.098 -23275.953 -1877.868

-5478.713 -4958.111 847.837 -17691.347 -4958.111 7582.121 -23351.667 -1496.331

-5754.519 -5181.917 671.058 -18056.415 -5181.917 5713.033 -23388.927 -1120.448

-5960.128 -5347.805 465.259 -18319.137 -5347.805 3823.667 -23416.009 -746.419

-6079.931 -5443.089 236.774 -18470.473 -5443.089 1907.689 -23417.719 -371.383

-6124.114 -5477.741 0.000 -18524.886 -5477.741 0.000 -23424.475 0.000

-6079.931 -5443.089 -236.774 -18470.473 -5443.089 -1907.689 -23417.719 371.383

-5960.128 -5347.805 -465.259 -18319.137 -5347.805 -3823.667 -23416.009 746.419

-5754.519 -5181.917 -671.058 -18056.415 -5181.917 -5713.033 -23388.927 1120.448

-5478.713 -4958.111 -847.837 -17691.347 -4958.111 -7582.121 -23351.667 1496.331

-5126.226 -4668.694 -987.429 -17205.768 -4668.694 -9439.098 -23275.953 1877.868

-4725.320 -4337.146 -1084.286 -16620.714 -4337.146 -11240.214 -23180.786 2257.364

-4271.497 -3953.260 -1134.586 -15916.034 -3953.260 -13013.940 -23031.499 2640.034

-3782.391 -3531.645 -1135.424 -15098.743 -3531.645 -14713.883 -22813.176 3016.895

-3267.094 -3080.711 -1089.031 -14159.749 -3080.711 -16337.812 -22510.647 3389.186

-2743.456 -2611.572 -1000.232 -13105.851 -2611.572 -17880.902 -22111.046 3750.861

-2221.545 -2135.075 -874.313 -11926.981 -2135.075 -19313.218 -21579.876 4096.933

-1713.618 -1662.093 -719.686 -10610.882 -1662.093 -20626.348 -20885.665 4422.818

-1246.370 -1219.541 -552.452 -9180.157 -1219.541 -21779.542 -20027.195 4717.775

-827.125 -815.303 -383.192 -7602.833 -815.303 -22786.868 -18963.238 4978.351

-480.410 -476.361 -230.083 -5903.681 -476.361 -23580.851 -17669.583 5188.227

-219.038 -218.274 -107.500 -4069.888 -218.274 -24171.765 -16150.474 5348.640

-55.085 -55.030 -27.405 -2089.378 -55.030 -24522.999 -14344.606 5443.453

0.000 0.000 0.000 0.000 0.000 -24649.000 -12324.500 5477.556

-55.085 -55.030 -27.405 2199.548 -55.030 -24522.999 -10055.680 5443.453

-219.038 -218.274 -107.500 4507.964 -218.274 -24171.765 -7572.622 5348.640

-480.410 -476.361 -230.083 6864.501 -476.361 -23580.851 -4901.401 5188.227

-827.125 -815.303 -383.192 9257.083 -815.303 -22786.868 -2103.322 4978.351

-1246.370 -1219.541 -552.452 11672.897 -1219.541 -21779.542 825.859 4717.775

-1713.618 -1662.093 -719.686 14038.118 -1662.093 -20626.348 3763.335 4422.818

-2221.545 -2135.075 -874.313 16370.071 -2135.075 -19313.218 6717.176 4096.933

-2743.456 -2611.572 -1000.232 18592.763 -2611.572 -17880.902 9587.568 3750.861

-3267.094 -3080.711 -1089.031 20693.937 -3080.711 -16337.812 12343.039 3389.186

-3782.391 -3531.645 -1135.424 22663.525 -3531.645 -14713.883 14949.092 3016.895

-4271.497 -3953.260 -1134.586 24459.028 -3953.260 -13013.940 17343.563 2640.034

-4725.320 -4337.146 -1084.286 26071.354 -4337.146 -11240.214 19511.282 2257.364

-5126.226 -4668.694 -987.429 27458.220 -4668.694 -9439.098 21388.035 1877.868

-5478.713 -4958.111 -847.837 28648.773 -4958.111 -7582.121 22988.453 1496.331

-5754.519 -5181.917 -671.058 29565.453 -5181.917 -5713.033 24232.941 1120.448

-5960.128 -5347.805 -465.259 30239.393 -5347.805 -3823.667 25142.521 746.419

-6079.931 -5443.089 -236.774 30630.335 -5443.089 -1907.689 25683.089 371.383

-6124.114 -5477.741 0.000 30773.114 -5477.741 0.000 25873.525 0.000

-6079.931 -5443.089 236.774 30630.335 -5443.089 1907.689 25683.089 -371.383

-5960.128 -5347.805 465.259 30239.393 -5347.805 3823.667 25142.521 -746.419

-5754.519 -5181.917 671.058 29565.453 -5181.917 5713.033 24232.941 -1120.448

-5478.713 -4958.111 847.837 28648.773 -4958.111 7582.121 22988.453 -1496.331

-5126.226 -4668.694 987.429 27458.220 -4668.694 9439.098 21388.035 -1877.868

-4725.320 -4337.146 1084.286 26071.354 -4337.146 11240.214 19511.282 -2257.364

-4271.497 -3953.260 1134.586 24459.028 -3953.260 13013.940 17343.563 -2640.034

-3782.391 -3531.645 1135.424 22663.525 -3531.645 14713.883 14949.092 -3016.895

-3267.094 -3080.711 1089.031 20693.937 -3080.711 16337.812 12343.039 -3389.186

-2743.456 -2611.572 1000.232 18592.763 -2611.572 17880.902 9587.568 -3750.861

-2221.545 -2135.075 874.313 16370.071 -2135.075 19313.218 6717.176 -4096.933

-1713.618 -1662.093 719.686 14038.118 -1662.093 20626.348 3763.335 -4422.818

-1246.370 -1219.541 552.452 11672.897 -1219.541 21779.542 825.859 -4717.775

-827.125 -815.303 383.192 9257.083 -815.303 22786.868 -2103.322 -4978.351

-480.410 -476.361 230.083 6864.501 -476.361 23580.851 -4901.401 -5188.227

-219.038 -218.274 107.500 4507.964 -218.274 24171.765 -7572.622 -5348.640

-55.085 -55.030 27.405 2199.548 -55.030 24522.999 -10055.680 -5443.453

0.000 0.000 0.000 0.000 0.000 24649.000 -12324.500 -5477.556

 MATRIZ INVERSA PARA VB
VB 1 0 1 2
Wx 0 -1 0 2
Wy 0 -2 2 0
Wz 0 2 2 -1

αy αz VB 1 0 0.996 2
6846.944 2738.778 Wx 0 -0.996 0 2
Wy 0 -2 2.002 0
Wz 0 2.002 2 -0.996

VB 1 0 0.985 2
6811.235 2735.627 Wx 0 -0.985 0 2.007
Wy 0 -2 2.007 0
Wz 0 2.007 2 -0.985

VB 1 0 0.966 2
6713.744 2733.774 Wx 0 -0.966 0 2.017
Wy 0 -2 2.017 0
Wz 0 2.017 2 -0.966

VB 1 0 0.94 2
6546.553 2720.966 Wx 0 -0.94 0 2.029
Wy 0 -2 2.029 0
Wz 0 2.029 2 -0.94

VB 1 0 0.906 2
6323.394 2708.207 Wx 0 -0.906 0 2.044
Wy 0 -2 2.044 0
Wz 0 2.044 2 -0.906

VB 1 0 0.866 2
6039.135 2687.791 Wx 0 -0.866 0 2.062
Wy 0 -2 2.062 0
Wz 0 2.062 2 -0.866

VB 1 0 0.819 2
5713.245 2663.557 Wx 0 -0.819 0 2.081
Wy 0 -2 2.081 0
Wz 0 2.081 2 -0.819
 VB 1 0 0.766 2
5343.274 2638.377 Wx 0 -0.766 0 2.101
Wy 0 -2 2.101 0
Wz 0 2.101 2 -0.766

VB 1 0 0.707 2
4940.114 2610.534 Wx 0 -0.707 0 2.121
Wy 0 -2 2.121 0
Wz 0 2.121 2 -0.707

VB 1 0 0.643 2
4507.043 2582.209 Wx 0 -0.643 0 2.142
Wy 0 -2 2.142 0
Wz 0 2.142 2 -0.643

VB 1 0 0.574 2
4052.331 2554.392 Wx 0 -0.574 0 2.161
Wy 0 -2 2.161 0
Wz 0 2.161 2 -0.574

VB 1 0 0.5 2
3578.840 2530.606 Wx 0 -0.5 0 2.179
Wy 0 -2 2.179 0
Wz 0 2.179 2 -0.5

VB 1 0 0.423 2
3086.501 2508.411 Wx 0 -0.423 0 2.196
Wy 0 -2 2.196 0
Wz 0 2.196 2 -0.423

VB 1 0 0.342 2
2588.052 2487.720 Wx 0 -0.342 0 2.21
Wy 0 -2 2.21 0
Wz 0 2.21 2 -0.342

VB 1 0 0.259 2
2076.679 2475.048 Wx 0 -0.259 0 2.221
Wy 0 -2 2.221 0
Wz 0 2.221 2 -0.259

VB 1 0 0.174 2
1563.321 2463.806 Wx 0 -0.174 0 2.229
 Wy 0 -2 2.229 0
Wz 0 2.229 2 -0.174

VB 1 0 0.087 2
1045.683 2457.461 Wx 0 -0.087 0 2.234
Wy 0 -2 2.234 0
Wz 0 2.234 2 -0.087

VB 1 0 0 2
521.451 2450.940 Wx 0 0 0 2.236
Wy 0 -2 2.236 0
Wz 0 2.236 2 0

VB 1 0 -0.087 2
0.000 2449.795 Wx 0 0.087 0 2.234
Wy 0 -2 2.234 0
Wz 0 2.234 2 0.087

VB 1 0 -0.174 2
-521.451 2450.940 Wx 0 0.174 0 2.229
Wy 0 -2 2.229 0
Wz 0 2.229 2 0.174

VB 1 0 -0.259 2
-1045.683 2457.461 Wx 0 0.259 0 2.221
Wy 0 -2 2.221 0
Wz 0 2.221 2 0.259

VB 1 0 -0.342 2
-1563.321 2463.806 Wx 0 0.342 0 2.21
Wy 0 -2 2.21 0
Wz 0 2.21 2 0.342

VB 1 0 -0.423 2
-2076.679 2475.048 Wx 0 0.423 0 2.196
Wy 0 -2 2.196 0
Wz 0 2.196 2 0.423

VB 1 0 -0.5 2
-2588.052 2487.720 Wx 0 0.5 0 2.179
Wy 0 -2 2.179 0
Wz 0 2.179 2 0.5
 VB 1 0 -0.574 2
-3086.501 2508.411 Wx 0 0.574 0 2.161
Wy 0 -2 2.161 0
Wz 0 2.161 2 0.574

VB 1 0 -0.643 2
-3578.840 2530.606 Wx 0 0.643 0 2.142
Wy 0 -2 2.142 0
Wz 0 2.142 2 0.643

VB 1 0 -0.707 2
-4052.331 2554.392 Wx 0 0.707 0 2.121
Wy 0 -2 2.121 0
Wz 0 2.121 2 0.707

VB 1 0 -0.766 2
-4507.043 2582.209 Wx 0 0.766 0 2.101
Wy 0 -2 2.101 0
Wz 0 2.101 2 0.766

VB 1 0 -0.819 2
-4940.114 2610.534 Wx 0 0.819 0 2.081
Wy 0 -2 2.081 0
Wz 0 2.081 2 0.819

VB 1 0 -0.866 2
-5343.274 2638.377 Wx 0 0.866 0 2.062
Wy 0 -2 2.062 0
Wz 0 2.062 2 0.866

VB 1 0 -0.906 2
-5713.245 2663.557 Wx 0 0.906 0 2.044
Wy 0 -2 2.044 0
Wz 0 2.044 2 0.906

VB 1 0 -0.94 2
-6039.135 2687.791 Wx 0 0.94 0 2.029
Wy 0 -2 2.029 0
Wz 0 2.029 2 0.94

VB 1 0 -0.966 2
-6323.394 2708.207 Wx 0 0.966 0 2.017
Wy 0 -2 2.017 0
 Wz 0 2.017 2 0.966

VB 1 0 -0.985 2
-6546.553 2720.966 Wx 0 0.985 0 2.007
Wy 0 -2 2.007 0
Wz 0 2.007 2 0.985

VB 1 0 -0.996 2
-6713.744 2733.774 Wx 0 0.996 0 2.002
Wy 0 -2 2.002 0
Wz 0 2.002 2 0.996

VB 1 0 -1 2
-6811.235 2735.619 Wx 0 1 0 2
Wy 0 -2 2 0
Wz 0 2 2 1

VB 1 0 -0.996 2
-6846.944 2738.778 Wx 0 0.996 0 2.002
Wy 0 -2 2.002 0
Wz 0 2.002 2 0.996

VB 1 0 -0.985 2
-6811.235 2735.619 Wx 0 0.985 0 2.007
Wy 0 -2 2.007 0
Wz 0 2.007 2 0.985

VB 1 0 -0.966 2
-6713.744 2733.774 Wx 0 0.966 0 2.017
Wy 0 -2 2.017 0
Wz 0 2.017 2 0.966

VB 1 0 -0.94 2
-6546.553 2720.966 Wx 0 0.94 0 2.029
Wy 0 -2 2.029 0
Wz 0 2.029 2 0.94

VB 1 0 -0.906 2
-6323.394 2708.207 Wx 0 0.906 0 2.044
Wy 0 -2 2.044 0
Wz 0 2.044 2 0.906

VB 1 0 -0.866 2
-6039.135 2687.791 Wx 0 0.866 0 2.062
Wy 0 -2 2.062 0
Wz 0 2.062 2 0.866

VB 1 0 -0.819 2
-5713.245 2663.557 Wx 0 0.819 0 2.081
Wy 0 -2 2.081 0
Wz 0 2.081 2 0.819

VB 1 0 -0.766 2
-5343.274 2638.377 Wx 0 0.766 0 2.101
Wy 0 -2 2.101 0
Wz 0 2.101 2 0.766

VB 1 0 -0.707 2
-4940.114 2610.534 Wx 0 0.707 0 2.121
Wy 0 -2 2.121 0
Wz 0 2.121 2 0.707

VB 1 0 -0.643 2
-4507.043 2582.209 Wx 0 0.643 0 2.142
Wy 0 -2 2.142 0
Wz 0 2.142 2 0.643

VB 1 0 -0.574 2
-4052.331 2554.392 Wx 0 0.574 0 2.161
Wy 0 -2 2.161 0
Wz 0 2.161 2 0.574

VB 1 0 -0.5 2
-3578.840 2530.606 Wx 0 0.5 0 2.179
Wy 0 -2 2.179 0
Wz 0 2.179 2 0.5

VB 1 0 -0.423 2
-3086.501 2508.411 Wx 0 0.423 0 2.196
Wy 0 -2 2.196 0
Wz 0 2.196 2 0.423

VB 1 0 -0.342 2
-2588.052 2487.720 Wx 0 0.342 0 2.21
Wy 0 -2 2.21 0
Wz 0 2.21 2 0.342
 VB 1 0 -0.259 2
-2076.679 2475.048 Wx 0 0.259 0 2.221
Wy 0 -2 2.221 0
Wz 0 2.221 2 0.259

VB 1 0 -0.174 2
-1563.321 2463.806 Wx 0 0.174 0 2.229
Wy 0 -2 2.229 0
Wz 0 2.229 2 0.174

VB 1 0 -0.087 2
-1045.683 2457.461 Wx 0 0.087 0 2.234
Wy 0 -2 2.234 0
Wz 0 2.234 2 0.087

VB 1 0 0 2
-521.451 2450.940 Wx 0 0 0 2.236
Wy 0 -2 2.236 0
Wz 0 2.236 2 0

VB 1 0 0.087 2
0.000 2449.795 Wx 0 -0.087 0 2.234
Wy 0 -2 2.234 0
Wz 0 2.234 2 -0.087

VB 1 0 0.174 2
521.451 2450.940 Wx 0 -0.174 0 2.229
Wy 0 -2 2.229 0
Wz 0 2.229 2 -0.174

VB 1 0 0.259 2
1045.683 2457.461 Wx 0 -0.259 0 2.221
Wy 0 -2 2.221 0
Wz 0 2.221 2 -0.259

VB 1 0 0.342 2
1563.321 2463.806 Wx 0 -0.342 0 2.21
Wy 0 -2 2.21 0
Wz 0 2.21 2 -0.342

VB 1 0 0.423 2
2076.679 2475.048 Wx 0 -0.423 0 2.196
 Wy 0 -2 2.196 0
Wz 0 2.196 2 -0.423

VB 1 0 0.5 2
2588.052 2487.720 Wx 0 -0.5 0 2.179
Wy 0 -2 2.179 0
Wz 0 2.179 2 -0.5

VB 1 0 0.574 2
3086.501 2508.411 Wx 0 -0.574 0 2.161
Wy 0 -2 2.161 0
Wz 0 2.161 2 -0.574

VB 1 0 0.643 2
3578.840 2530.606 Wx 0 -0.643 0 2.142
Wy 0 -2 2.142 0
Wz 0 2.142 2 -0.643

VB 1 0 0.707 2
4052.331 2554.392 Wx 0 -0.707 0 2.121
Wy 0 -2 2.121 0
Wz 0 2.121 2 -0.707

VB 1 0 0.766 2
4507.043 2582.209 Wx 0 -0.766 0 2.101
Wy 0 -2 2.101 0
Wz 0 2.101 2 -0.766

VB 1 0 0.819 2
4940.114 2610.534 Wx 0 -0.819 0 2.081
Wy 0 -2 2.081 0
Wz 0 2.081 2 -0.819

VB 1 0 0.866 2
5343.274 2638.377 Wx 0 -0.866 0 2.062
Wy 0 -2 2.062 0
Wz 0 2.062 2 -0.866

VB 1 0 0.906 2
5713.245 2663.557 Wx 0 -0.906 0 2.044
Wy 0 -2 2.044 0
Wz 0 2.044 2 -0.906
 VB 1 0 0.94 2
6039.135 2687.791 Wx 0 -0.94 0 2.029
Wy 0 -2 2.029 0
Wz 0 2.029 2 -0.94

VB 1 0 0.966 2
6323.394 2708.207 Wx 0 -0.966 0 2.017
Wy 0 -2 2.017 0
Wz 0 2.017 2 -0.966

VB 1 0 0.985 2
6546.553 2720.966 Wx 0 -0.985 0 2.007
Wy 0 -2 2.007 0
Wz 0 2.007 2 -0.985

VB 1 0 0.996 2
6713.744 2733.774 Wx 0 -0.996 0 2.002
Wy 0 -2 2.002 0
Wz 0 2.002 2 -0.996

VB 1 0 1 2
6811.235 2735.619 Wx 0 -1 0 2
Wy 0 -2 2 0
Wz 0 2 2 -1

6846.944 2738.778
 MATRIZ INVERSA RESUELTA
157 1.000 -1.286 0.071 -0.571 157 VB
0 0.000 0.143 -0.286 0.286 0 Wx
= = =
0 0.000 0.143 0.214 0.286 0 Wy
0 0.000 0.571 -0.143 0.143 0 Wz

156.372 1.000 -1.283 0.070 -0.568 156.372 VB

0 0.000 0.142 -0.285 0.285 0 Wx
= =
-13.659 0.000 0.142 0.215 0.285 -13.659 Wy
0 0.000 0.571 -0.142 0.142 0 Wz

154.645 1.000 -1.270 0.066 -0.558 154.645 VB

0 0.000 0.140 -0.283 0.284 0 Wx
= =
-27.318 0.000 0.139 0.216 0.283 -27.318 Wy
0 0.000 0.567 -0.139 0.140 0 Wz

151.662 1.000 -1.251 0.058 -0.542 151.662 VB

0 0.000 0.135 -0.280 0.283 0 Wx
= =
-40.663 0.000 0.134 0.218 0.280 -40.663 Wy
0 0.000 0.561 -0.134 0.135 0 Wz

147.58 1.000 -1.227 0.049 -0.520 147.58 VB

0 0.000 0.130 -0.277 0.281 0 Wx
= =
-53.694 0.000 0.128 0.220 0.277 -53.694 Wy
0 0.000 0.553 -0.128 0.130 0 Wz

142.242 1.000 -1.197 0.039 -0.493 142.242 VB

0 0.000 0.123 -0.272 0.278 0 Wx
= =
-66.411 0.000 0.120 0.223 0.272 -66.411 Wy
0 0.000 0.544 -0.120 0.123 0 Wz

135.962 1.000 -1.164 0.028 -0.462 135.962 VB

0 0.000 0.115 -0.267 0.275 0 Wx
= =
-78.5 0.000 0.112 0.226 0.267 -78.5 Wy
0 0.000 0.533 -0.112 0.115 0 Wz

128.583 1.000 -1.129 0.017 -0.428 128.583 VB

0 0.000 0.107 -0.261 0.272 0 Wx
= =
-90.118 0.000 0.103 0.230 0.261 -90.118 Wy
0 0.000 0.523 -0.103 0.107 0 Wz
 120.262 1.000 -1.095 0.008 -0.391 120.262 VB
0 0.000 0.098 -0.256 0.268 0 Wx
= =
-100.951 0.000 0.093 0.233 0.256 -100.951 Wy
0 0.000 0.512 -0.093 0.098 0 Wz

110.999 1.000 -1.061 0.000 -0.354 110.999 VB

0 0.000 0.088 -0.250 0.265 0 Wx
= =
-110.999 0.000 0.083 0.236 0.250 -110.999 Wy
0 0.000 0.501 -0.083 0.088 0 Wz

100.951 1.000 -1.028 -0.006 -0.315 100.951 VB

0 0.000 0.079 -0.245 0.262 0 Wx
= =
-120.262 0.000 0.073 0.238 0.245 -120.262 Wy
0 0.000 0.490 -0.073 0.079 0 Wz

90.118 1.000 -0.999 -0.011 -0.275 90.118 VB

0 0.000 0.069 -0.240 0.259 0 Wx
= =
-128.583 0.000 0.064 0.241 0.240 -128.583 Wy
0 0.000 0.481 -0.064 0.069 0 Wz

78.5 1.000 -0.972 -0.013 -0.235 78.5 VB

0 0.000 0.059 -0.235 0.256 0 Wx
= =
-135.962 0.000 0.054 0.243 0.235 -135.962 Wy
0 0.000 0.472 -0.054 0.059 0 Wz

66.411 1.000 -0.948 -0.014 -0.196 66.411 VB

0 0.000 0.049 -0.231 0.254 0 Wx
= =
-142.242 0.000 0.045 0.245 0.231 -142.242 Wy
0 0.000 0.465 -0.045 0.049 0 Wz

53.694 1.000 -0.929 -0.014 -0.156 53.694 VB

0 0.000 0.039 -0.228 0.252 0 Wx
= =
-147.58 0.000 0.035 0.246 0.228 -147.58 Wy
0 0.000 0.459 -0.035 0.039 0 Wz

40.663 1.000 -0.914 -0.011 -0.117 40.663 VB

0 0.000 0.029 -0.226 0.251 0 Wx
= =
-151.662 0.000 0.026 0.247 0.226 -151.662 Wy
0 0.000 0.454 -0.026 0.029 0 Wz

27.318 1.000 -0.903 -0.008 -0.078 27.318 VB

0 0.000 0.019 -0.224 0.249 0 Wx
= =
 = =
-154.645 0.000 0.017 0.248 0.224 -154.645 Wy
0 0.000 0.450 -0.017 0.019 0 Wz

13.659 1.000 -0.897 -0.004 -0.039 13.659 VB

0 0.000 0.010 -0.223 0.249 0 Wx
= =
-156.372 0.000 0.009 0.248 0.223 -156.372 Wy
0 0.000 0.448 -0.009 0.010 0 Wz

0 1.000 -0.894 0.000 0.000 0 VB

0 0.000 0.000 -0.222 0.248 0 Wx
= =
-157 0.000 0.000 0.248 0.222 -157 Wy
0 0.000 0.447 0.000 0.000 0 Wz

-13.659 1.000 -0.897 0.004 0.039 -13.659 VB

0 0.000 -0.010 -0.223 0.249 0 Wx
= =
-156.372 0.000 -0.009 0.248 0.223 -156.372 Wy
0 0.000 0.448 0.009 -0.010 0 Wz

-27.318 1.000 -0.903 0.008 0.078 -27.318 VB

0 0.000 -0.019 -0.224 0.249 0 Wx
= =
-154.645 0.000 -0.017 0.248 0.224 -154.645 Wy
0 0.000 0.450 0.017 -0.019 0 Wz

-40.663 1.000 -0.914 0.011 0.117 -40.663 VB

0 0.000 -0.029 -0.226 0.251 0 Wx
= =
-151.662 0.000 -0.026 0.247 0.226 -151.662 Wy
0 0.000 0.454 0.026 -0.029 0 Wz

-53.694 1.000 -0.929 0.014 0.156 -53.694 VB

0 0.000 -0.039 -0.228 0.252 0 Wx
= =
-147.58 0.000 -0.035 0.246 0.228 -147.58 Wy
0 0.000 0.459 0.035 -0.039 0 Wz

-66.411 1.000 -0.948 0.014 0.196 -66.411 VB

0 0.000 -0.049 -0.231 0.254 0 Wx
= =
-142.242 0.000 -0.045 0.245 0.231 -142.242 Wy
0 0.000 0.465 0.045 -0.049 0 Wz

-78.5 1.000 -0.972 0.013 0.235 -78.5 VB

0 0.000 -0.059 -0.235 0.256 0 Wx
= =
-135.962 0.000 -0.054 0.243 0.235 -135.962 Wy
0 0.000 0.472 0.054 -0.059 0 Wz
 -90.118 1.000 -0.999 0.011 0.275 -90.118 VB
0 0.000 -0.069 -0.240 0.259 0 Wx
= =
-128.583 0.000 -0.064 0.241 0.240 -128.583 Wy
0 0.000 0.481 0.064 -0.069 0 Wz

-100.951 1.000 -1.028 0.006 0.315 -100.951 VB

0 0.000 -0.079 -0.245 0.262 0 Wx
= =
-120.262 0.000 -0.073 0.238 0.245 -120.262 Wy
0 0.000 0.490 0.073 -0.079 0 Wz

-110.999 1.000 -1.061 0.000 0.354 -110.999 VB

0 0.000 -0.088 -0.250 0.265 0 Wx
= =
-110.999 0.000 -0.083 0.236 0.250 -110.999 Wy
0 0.000 0.501 0.083 -0.088 0 Wz

-120.262 1.000 -1.095 -0.008 0.391 -120.262 VB

0 0.000 -0.098 -0.256 0.268 0 Wx
= =
-100.951 0.000 -0.093 0.233 0.256 -100.951 Wy
0 0.000 0.512 0.093 -0.098 0 Wz

-128.583 1.000 -1.129 -0.017 0.428 -128.583 VB

0 0.000 -0.107 -0.261 0.272 0 Wx
= =
-90.118 0.000 -0.103 0.230 0.261 -90.118 Wy
0 0.000 0.523 0.103 -0.107 0 Wz

-135.962 1.000 -1.164 -0.028 0.462 -135.962 VB

0 0.000 -0.115 -0.267 0.275 0 Wx
= =
-78.5 0.000 -0.112 0.226 0.267 -78.5 Wy
0 0.000 0.533 0.112 -0.115 0 Wz

-142.242 1.000 -1.197 -0.039 0.493 -142.242 VB

0 0.000 -0.123 -0.272 0.278 0 Wx
= =
-66.411 0.000 -0.120 0.223 0.272 -66.411 Wy
0 0.000 0.544 0.120 -0.123 0 Wz

-147.58 1.000 -1.227 -0.049 0.520 -147.58 VB

0 0.000 -0.130 -0.277 0.281 0 Wx
= =
-53.694 0.000 -0.128 0.220 0.277 -53.694 Wy
0 0.000 0.553 0.128 -0.130 0 Wz

-151.662 1.000 -1.251 -0.058 0.542 -151.662 VB

0 0.000 -0.135 -0.280 0.283 0 Wx
= =
-40.663 0.000 -0.134 0.218 0.280 -40.663 Wy
 0 0.000 0.561 0.134 -0.135 0 Wz

-154.645 1.000 -1.270 -0.066 0.558 -154.645 VB

0 0.000 -0.140 -0.283 0.284 0 Wx
= =
-27.318 0.000 -0.139 0.216 0.283 -27.318 Wy
0 0.000 0.567 0.139 -0.140 0 Wz

-156.372 1.000 -1.282 -0.070 0.568 -156.372 VB

0 0.000 -0.142 -0.285 0.285 0 Wx
= =
-13.659 0.000 -0.142 0.215 0.285 -13.659 Wy
0 0.000 0.570 0.142 -0.142 0 Wz

-157 1.000 -1.286 -0.071 0.571 -157 VB

0 0.000 -0.143 -0.286 0.286 0 Wx
= =
0 0.000 -0.143 0.214 0.286 0 Wy
0 0.000 0.571 0.143 -0.143 0 Wz

-156.372 1.000 -1.282 -0.070 0.568 -156.372 VB

0 0.000 -0.142 -0.285 0.285 0 Wx
= =
13.659 0.000 -0.142 0.215 0.285 13.659 Wy
0 0.000 0.570 0.142 -0.142 0 Wz

-154.645 1.000 -1.270 -0.066 0.558 -154.645 VB

0 0.000 -0.140 -0.283 0.284 0 Wx
= =
27.318 0.000 -0.139 0.216 0.283 27.318 Wy
0 0.000 0.567 0.139 -0.140 0 Wz

-151.662 1.000 -1.251 -0.058 0.542 -151.662 VB

0 0.000 -0.135 -0.280 0.283 0 Wx
= =
40.663 0.000 -0.134 0.218 0.280 40.663 Wy
0 0.000 0.561 0.134 -0.135 0 Wz

-147.58 1.000 -1.227 -0.049 0.520 -147.58 VB

0 0.000 -0.130 -0.277 0.281 0 Wx
= =
53.694 0.000 -0.128 0.220 0.277 53.694 Wy
0 0.000 0.553 0.128 -0.130 0 Wz

-142.242 1.000 -1.197 -0.039 0.493 -142.242 VB

0 0.000 -0.123 -0.272 0.278 0 Wx
= =
66.411 0.000 -0.120 0.223 0.272 66.411 Wy
0 0.000 0.544 0.120 -0.123 0 Wz

-135.962 1.000 -1.164 -0.028 0.462 -135.962 VB

 0 0.000 -0.115 -0.267 0.275 0 Wx
= =
78.5 0.000 -0.112 0.226 0.267 78.5 Wy
0 0.000 0.533 0.112 -0.115 0 Wz

-128.583 1.000 -1.129 -0.017 0.428 -128.583 VB

0 0.000 -0.107 -0.261 0.272 0 Wx
= =
90.118 0.000 -0.103 0.230 0.261 90.118 Wy
0 0.000 0.523 0.103 -0.107 0 Wz

-120.262 1.000 -1.095 -0.008 0.391 -120.262 VB

0 0.000 -0.098 -0.256 0.268 0 Wx
= =
100.951 0.000 -0.093 0.233 0.256 100.951 Wy
0 0.000 0.512 0.093 -0.098 0 Wz

-110.999 1.000 -1.061 0.000 0.354 -110.999 VB

0 0.000 -0.088 -0.250 0.265 0 Wx
= =
110.999 0.000 -0.083 0.236 0.250 110.999 Wy
0 0.000 0.501 0.083 -0.088 0 Wz

-100.951 1.000 -1.028 0.006 0.315 -100.951 VB

0 0.000 -0.079 -0.245 0.262 0 Wx
= =
120.262 0.000 -0.073 0.238 0.245 120.262 Wy
0 0.000 0.490 0.073 -0.079 0 Wz

-90.118 1.000 -0.999 0.011 0.275 -90.118 VB

0 0.000 -0.069 -0.240 0.259 0 Wx
= =
128.583 0.000 -0.064 0.241 0.240 128.583 Wy
0 0.000 0.481 0.064 -0.069 0 Wz

-78.5 1.000 -0.972 0.013 0.235 -78.5 VB

0 0.000 -0.059 -0.235 0.256 0 Wx
= =
135.962 0.000 -0.054 0.243 0.235 135.962 Wy
0 0.000 0.472 0.054 -0.059 0 Wz

-66.411 1.000 -0.948 0.014 0.196 -66.411 VB

0 0.000 -0.049 -0.231 0.254 0 Wx
= =
142.242 0.000 -0.045 0.245 0.231 142.242 Wy
0 0.000 0.465 0.045 -0.049 0 Wz

-53.694 1.000 -0.929 0.014 0.156 -53.694 VB

0 0.000 -0.039 -0.228 0.252 0 Wx
= =
147.58 0.000 -0.035 0.246 0.228 147.58 Wy
0 0.000 0.459 0.035 -0.039 0 Wz
-40.663 1.000 -0.914 0.011 0.117 -40.663 VB
0 0.000 -0.029 -0.226 0.251 0 Wx
= =
151.662 0.000 -0.026 0.247 0.226 151.662 Wy
0 0.000 0.454 0.026 -0.029 0 Wz

-27.318 1.000 -0.903 0.008 0.078 -27.318 VB

0 0.000 -0.019 -0.224 0.249 0 Wx
= =
154.645 0.000 -0.017 0.248 0.224 154.645 Wy
0 0.000 0.450 0.017 -0.019 0 Wz

-13.659 1.000 -0.897 0.004 0.039 -13.659 VB

0 0.000 -0.010 -0.223 0.249 0 Wx
= =
156.372 0.000 -0.009 0.248 0.223 156.372 Wy
0 0.000 0.448 0.009 -0.010 0 Wz

0 1.000 -0.894 0.000 0.000 0 VB

0 0.000 0.000 -0.222 0.248 0 Wx
= =
157 0.000 0.000 0.248 0.222 157 Wy
0 0.000 0.447 0.000 0.000 0 Wz

13.659 1.000 -0.897 -0.004 -0.039 13.659 VB

0 0.000 0.010 -0.223 0.249 0 Wx
= =
156.372 0.000 0.009 0.248 0.223 156.372 Wy
0 0.000 0.448 -0.009 0.010 0 Wz

27.318 1.000 -0.903 -0.008 -0.078 27.318 VB

0 0.000 0.019 -0.224 0.249 0 Wx
= =
154.645 0.000 0.017 0.248 0.224 154.645 Wy
0 0.000 0.450 -0.017 0.019 0 Wz

40.663 1.000 -0.914 -0.011 -0.117 40.663 VB

0 0.000 0.029 -0.226 0.251 0 Wx
= =
151.662 0.000 0.026 0.247 0.226 151.662 Wy
0 0.000 0.454 -0.026 0.029 0 Wz

53.694 1.000 -0.929 -0.014 -0.156 53.694 VB

0 0.000 0.039 -0.228 0.252 0 Wx
= =
147.58 0.000 0.035 0.246 0.228 147.58 Wy
0 0.000 0.459 -0.035 0.039 0 Wz

66.411 1.000 -0.948 -0.014 -0.196 66.411 VB

0 0.000 0.049 -0.231 0.254 0 Wx
= =
 = =
142.242 0.000 0.045 0.245 0.231 142.242 Wy
0 0.000 0.465 -0.045 0.049 0 Wz

78.5 1.000 -0.972 -0.013 -0.235 78.5 VB

0 0.000 0.059 -0.235 0.256 0 Wx
= =
135.962 0.000 0.054 0.243 0.235 135.962 Wy
0 0.000 0.472 -0.054 0.059 0 Wz

90.118 1.000 -0.999 -0.011 -0.275 90.118 VB

0 0.000 0.069 -0.240 0.259 0 Wx
= =
128.583 0.000 0.064 0.241 0.240 128.583 Wy
0 0.000 0.481 -0.064 0.069 0 Wz

100.951 1.000 -1.028 -0.006 -0.315 100.951 VB

0 0.000 0.079 -0.245 0.262 0 Wx
= =
120.262 0.000 0.073 0.238 0.245 120.262 Wy
0 0.000 0.490 -0.073 0.079 0 Wz

110.999 1.000 -1.061 0.000 -0.354 110.999 VB

0 0.000 0.088 -0.250 0.265 0 Wx
= =
110.999 0.000 0.083 0.236 0.250 110.999 Wy
0 0.000 0.501 -0.083 0.088 0 Wz

120.262 1.000 -1.095 0.008 -0.391 120.262 VB

0 0.000 0.098 -0.256 0.268 0 Wx
= =
100.951 0.000 0.093 0.233 0.256 100.951 Wy
0 0.000 0.512 -0.093 0.098 0 Wz

128.583 1.000 -1.129 0.017 -0.428 128.583 VB

0 0.000 0.107 -0.261 0.272 0 Wx
= =
90.118 0.000 0.103 0.230 0.261 90.118 Wy
0 0.000 0.523 -0.103 0.107 0 Wz

135.962 1.000 -1.164 0.028 -0.462 135.962 VB

0 0.000 0.115 -0.267 0.275 0 Wx
= =
78.5 0.000 0.112 0.226 0.267 78.5 Wy
0 0.000 0.533 -0.112 0.115 0 Wz

142.242 1.000 -1.197 0.039 -0.493 142.242 VB

0 0.000 0.123 -0.272 0.278 0 Wx
= =
66.411 0.000 0.120 0.223 0.272 66.411 Wy
0 0.000 0.544 -0.120 0.123 0 Wz
 147.58 1.000 -1.227 0.049 -0.520 147.58 VB
0 0.000 0.130 -0.277 0.281 0 Wx
= =
53.694 0.000 0.128 0.220 0.277 53.694 Wy
0 0.000 0.553 -0.128 0.130 0 Wz

151.662 1.000 -1.251 0.058 -0.542 151.662 VB

0 0.000 0.135 -0.280 0.283 0 Wx
= =
40.663 0.000 0.134 0.218 0.280 40.663 Wy
0 0.000 0.561 -0.134 0.135 0 Wz

154.645 1.000 -1.270 0.066 -0.558 154.645 VB

0 0.000 0.140 -0.283 0.284 0 Wx
= =
27.318 0.000 0.139 0.216 0.283 27.318 Wy
0 0.000 0.567 -0.139 0.140 0 Wz

156.372 1.000 -1.282 0.070 -0.568 156.372 VB

0 0.000 0.142 -0.285 0.285 0 Wx
= =
13.659 0.000 0.142 0.215 0.285 13.659 Wy
0 0.000 0.570 -0.142 0.142 0 Wz

157 1.000 -1.286 0.071 -0.571 157 VB

0 0.000 0.143 -0.286 0.286 0 Wx
= =
0 0.000 0.143 0.214 0.286 0 Wy
0 0.000 0.571 -0.143 0.143 0 Wz
RSULTADOS MATRIZ INVERSA PARA aB
157 ab 1 0 1 2
0 αx 0 -1 0 -2
=
0 αy 0 -2 2 0
0 αz 0 2 2 -1

155.414 ab 1 0 0.996 2
3.894 αx 0 -0.996 0 -2.002
=
-2.932 αy 0 -2 2.002 0
1.939 αz 0 2.002 2 -0.996

152.855 ab 1 0 0.985 2
7.741 αx 0 -0.985 0 -2.007
=
-5.897 αy 0 -2 2.007 0
3.799 αz 0 2.007 2 -0.985

149.301 ab 1 0 0.966 2
11.398 αx 0 -0.966 0 -2.017
=
-8.858 αy 0 -2 2.017 0
5.459 αz 0 2.017 2 -0.966

144.943 ab 1 0 0.94 2
14.846 αx 0 -0.94 0 -2.029
=
-11.829 αy 0 -2 2.029 0
6.878 αz 0 2.029 2 -0.94

139.670 ab 1 0 0.906 2
18.054 αx 0 -0.906 0 -2.044
=
-14.826 αy 0 -2 2.044 0
8.002 αz 0 2.044 2 -0.906

133.773 ab 1 0 0.866 2
20.928 αx 0 -0.866 0 -2.062
=
-17.771 αy 0 -2 2.062 0
8.789 αz 0 2.062 2 -0.866

127.008 ab 1 0 0.819 2
23.530 αx 0 -0.819 0 -2.081
=
-20.691 αy 0 -2 2.081 0
9.261 αz 0 2.081 2 -0.819
119.451 ab 1 0 0.766 2
25.794 αx 0 -0.766 0 -2.101
=
-23.495 αy 0 -2 2.101 0
9.404 αz 0 2.101 2 -0.766

110.993 ab 1 0 0.707 2
27.754 αx 0 -0.707 0 -2.121
=
-26.163 αy 0 -2 2.121 0
9.251 αz 0 2.121 2 -0.707

101.723 ab 1 0 0.643 2
29.423 αx 0 -0.643 0 -2.142
=
-28.672 αy 0 -2 2.142 0
8.832 αz 0 2.142 2 -0.643

91.512 ab 1 0 0.574 2
30.834 αx 0 -0.574 0 -2.161
=
-30.965 αy 0 -2 2.161 0
8.190 αz 0 2.161 2 -0.574

80.328 ab 1 0 0.5 2
31.998 αx 0 -0.5 0 -2.179
=
-33.027 αy 0 -2 2.179 0
7.342 αz 0 2.179 2 -0.5

68.451 ab 1 0 0.423 2
32.913 αx 0 -0.423 0 -2.196
=
-34.798 αy 0 -2 2.196 0
6.340 αz 0 2.196 2 -0.423

55.692 ab 1 0 0.342 2
33.667 αx 0 -0.342 0 -2.21
=
-36.311 αy 0 -2 2.21 0
5.210 αz 0 2.21 2 -0.342

42.390 ab 1 0 0.259 2
34.213 αx 0 -0.259 0 -2.221
=
-37.477 αy 0 -2 2.221 0
3.990 αz 0 2.221 2 -0.259

28.585 ab 1 0 0.174 2
34.603 αx 0 -0.174 0 -2.229
=
 =
-38.330 αy 0 -2 2.229 0
2.701 αz 0 2.229 2 -0.174

14.326 ab 1 0 0.087 2
34.814 αx 0 -0.087 0 -2.234
=
-38.829 αy 0 -2 2.234 0
1.356 αz 0 2.234 2 -0.087

0.000 ab 1 0 0 2
34.890 αx 0 0 0 -2.236
=
-39.007 αy 0 -2 2.236 0
0.000 αz 0 2.236 2 0

-14.326 ab 1 0 -0.087 2
34.814 αx 0 0.087 0 -2.234
=
-38.829 αy 0 -2 2.234 0
-1.356 αz 0 2.234 2 0.087

-28.585 ab 1 0 -0.174 2
34.603 αx 0 0.174 0 -2.229
=
-38.330 αy 0 -2 2.229 0
-2.701 αz 0 2.229 2 0.174

-42.390 ab 1 0 -0.259 2
34.213 αx 0 0.259 0 -2.221
=
-37.477 αy 0 -2 2.221 0
-3.990 αz 0 2.221 2 0.259

-55.692 ab 1 0 -0.342 2
33.667 αx 0 0.342 0 -2.21
=
-36.311 αy 0 -2 2.21 0
-5.210 αz 0 2.21 2 0.342

-68.451 ab 1 0 -0.423 2
32.913 αx 0 0.423 0 -2.196
=
-34.798 αy 0 -2 2.196 0
-6.340 αz 0 2.196 2 0.423

-80.328 ab 1 0 -0.5 2
31.998 αx 0 0.5 0 -2.179
=
-33.027 αy 0 -2 2.179 0
-7.342 αz 0 2.179 2 0.5
 -91.512 ab 1 0 -0.574 2
30.834 αx 0 0.574 0 -2.161
=
-30.965 αy 0 -2 2.161 0
-8.190 αz 0 2.161 2 0.574

-101.723 ab 1 0 -0.643 2
29.423 αx 0 0.643 0 -2.142
=
-28.672 αy 0 -2 2.142 0
-8.832 αz 0 2.142 2 0.643

-110.993 ab 1 0 -0.707 2
27.754 αx 0 0.707 0 -2.121
=
-26.163 αy 0 -2 2.121 0
-9.251 αz 0 2.121 2 0.707

-119.451 ab 1 0 -0.766 2
25.794 αx 0 0.766 0 -2.101
=
-23.495 αy 0 -2 2.101 0
-9.404 αz 0 2.101 2 0.766

-127.008 ab 1 0 -0.819 2
23.530 αx 0 0.819 0 -2.081
=
-20.691 αy 0 -2 2.081 0
-9.261 αz 0 2.081 2 0.819

-133.773 ab 1 0 -0.866 2
20.928 αx 0 0.866 0 -2.062
=
-17.771 αy 0 -2 2.062 0
-8.789 αz 0 2.062 2 0.866

-139.670 ab 1 0 -0.906 2
18.054 αx 0 0.906 0 -2.044
=
-14.826 αy 0 -2 2.044 0
-8.002 αz 0 2.044 2 0.906

-144.943 ab 1 0 -0.94 2
14.846 αx 0 0.94 0 -2.029
=
-11.829 αy 0 -2 2.029 0
-6.878 αz 0 2.029 2 0.94

-149.301 ab 1 0 -0.966 2
11.398 αx 0 0.966 0 -2.017
=
-8.858 αy 0 -2 2.017 0
 -5.459 αz 0 2.017 2 0.966

-152.855 ab 1 0 -0.985 2
7.741 αx 0 0.985 0 -2.007
=
-5.897 αy 0 -2 2.007 0
-3.799 αz 0 2.007 2 0.985

-155.419 ab 1 0 -0.996 2
3.894 αx 0 0.996 0 -2.002
=
-2.933 αy 0 -2 2.002 0
-1.937 αz 0 2.002 2 0.996

-157.000 ab 1 0 -1 2
0.000 αx 0 1 0 -2
=
0.000 αy 0 -2 2 0
0.000 αz 0 2 2 1

-157.325 ab 1 0 -0.996 2
-3.894 αx 0 0.996 0 -2.002
=
2.933 αy 0 -2 2.002 0
1.937 αz 0 2.002 2 0.996

-156.435 ab 1 0 -0.985 2
-7.741 αx 0 0.985 0 -2.007
=
5.897 αy 0 -2 2.007 0
3.799 αz 0 2.007 2 0.985

-154.023 ab 1 0 -0.966 2
-11.398 αx 0 0.966 0 -2.017
=
8.858 αy 0 -2 2.017 0
5.459 αz 0 2.017 2 0.966

-150.217 ab 1 0 -0.94 2
-14.846 αx 0 0.94 0 -2.029
=
11.829 αy 0 -2 2.029 0
6.878 αz 0 2.029 2 0.94

-144.814 ab 1 0 -0.906 2
-18.054 αx 0 0.906 0 -2.044
=
14.826 αy 0 -2 2.044 0
8.002 αz 0 2.044 2 0.906

-138.151 ab 1 0 -0.866 2
 -20.928 αx 0 0.866 0 -2.062
=
17.771 αy 0 -2 2.062 0
8.789 αz 0 2.062 2 0.866

-130.158 ab 1 0 -0.819 2
-23.530 αx 0 0.819 0 -2.081
=
20.691 αy 0 -2 2.081 0
9.261 αz 0 2.081 2 0.819

-121.073 ab 1 0 -0.766 2
-25.794 αx 0 0.766 0 -2.101
=
23.495 αy 0 -2 2.101 0
9.404 αz 0 2.101 2 0.766

-111.005 ab 1 0 -0.707 2
-27.754 αx 0 0.707 0 -2.121
=
26.163 αy 0 -2 2.121 0
9.251 αz 0 2.121 2 0.707

-100.179 ab 1 0 -0.643 2
-29.423 αx 0 0.643 0 -2.142
=
28.672 αy 0 -2 2.142 0
8.832 αz 0 2.142 2 0.643

-88.724 ab 1 0 -0.574 2
-30.834 αx 0 0.574 0 -2.161
=
30.965 αy 0 -2 2.161 0
8.190 αz 0 2.161 2 0.574

-76.672 ab 1 0 -0.5 2
-31.998 αx 0 0.5 0 -2.179
=
33.027 αy 0 -2 2.179 0
7.342 αz 0 2.179 2 0.5

-64.371 ab 1 0 -0.423 2
-32.913 αx 0 0.423 0 -2.196
=
34.798 αy 0 -2 2.196 0
6.340 αz 0 2.196 2 0.423

-51.696 ab 1 0 -0.342 2
-33.667 αx 0 0.342 0 -2.21
=
36.311 αy 0 -2 2.21 0
5.210 αz 0 2.21 2 0.342
-38.936 ab 1 0 -0.259 2
-34.213 αx 0 0.259 0 -2.221
=
37.477 αy 0 -2 2.221 0
3.990 αz 0 2.221 2 0.259

-26.051 ab 1 0 -0.174 2
-34.603 αx 0 0.174 0 -2.229
=
38.330 αy 0 -2 2.229 0
2.701 αz 0 2.229 2 0.174

-12.992 ab 1 0 -0.087 2
-34.814 αx 0 0.087 0 -2.234
=
38.829 αy 0 -2 2.234 0
1.356 αz 0 2.234 2 0.087

0.000 ab 1 0 0 2
-34.890 αx 0 0 0 -2.236
=
39.007 αy 0 -2 2.236 0
0.000 αz 0 2.236 2 0

12.992 ab 1 0 0.087 2
-34.814 αx 0 -0.087 0 -2.234
=
38.829 αy 0 -2 2.234 0
-1.356 αz 0 2.234 2 -0.087

26.051 ab 1 0 0.174 2
-34.603 αx 0 -0.174 0 -2.229
=
38.330 αy 0 -2 2.229 0
-2.701 αz 0 2.229 2 -0.174

38.936 ab 1 0 0.259 2
-34.213 αx 0 -0.259 0 -2.221
=
37.477 αy 0 -2 2.221 0
-3.990 αz 0 2.221 2 -0.259

51.696 ab 1 0 0.342 2
-33.667 αx 0 -0.342 0 -2.21
=
36.311 αy 0 -2 2.21 0
-5.210 αz 0 2.21 2 -0.342

64.371 ab 1 0 0.423 2
-32.913 αx 0 -0.423 0 -2.196
=
 =
34.798 αy 0 -2 2.196 0
-6.340 αz 0 2.196 2 -0.423

76.672 ab 1 0 0.5 2
-31.998 αx 0 -0.5 0 -2.179
=
33.027 αy 0 -2 2.179 0
-7.342 αz 0 2.179 2 -0.5

88.724 ab 1 0 0.574 2
-30.834 αx 0 -0.574 0 -2.161
=
30.965 αy 0 -2 2.161 0
-8.190 αz 0 2.161 2 -0.574

100.179 ab 1 0 0.643 2
-29.423 αx 0 -0.643 0 -2.142
=
28.672 αy 0 -2 2.142 0
-8.832 αz 0 2.142 2 -0.643

111.005 ab 1 0 0.707 2
-27.754 αx 0 -0.707 0 -2.121
=
26.163 αy 0 -2 2.121 0
-9.251 αz 0 2.121 2 -0.707

121.073 ab 1 0 0.766 2
-25.794 αx 0 -0.766 0 -2.101
=
23.495 αy 0 -2 2.101 0
-9.404 αz 0 2.101 2 -0.766

130.158 ab 1 0 0.819 2
-23.530 αx 0 -0.819 0 -2.081
=
20.691 αy 0 -2 2.081 0
-9.261 αz 0 2.081 2 -0.819

138.151 ab 1 0 0.866 2
-20.928 αx 0 -0.866 0 -2.062
=
17.771 αy 0 -2 2.062 0
-8.789 αz 0 2.062 2 -0.866

144.814 ab 1 0 0.906 2
-18.054 αx 0 -0.906 0 -2.044
=
14.826 αy 0 -2 2.044 0
-8.002 αz 0 2.044 2 -0.906
150.217 ab 1 0 0.94 2
-14.846 αx 0 -0.94 0 -2.029
=
11.829 αy 0 -2 2.029 0
-6.878 αz 0 2.029 2 -0.94

154.023 ab 1 0 0.966 2
-11.398 αx 0 -0.966 0 -2.017
=
8.858 αy 0 -2 2.017 0
-5.459 αz 0 2.017 2 -0.966

156.435 ab 1 0 0.985 2
-7.741 αx 0 -0.985 0 -2.007
=
5.897 αy 0 -2 2.007 0
-3.799 αz 0 2.007 2 -0.985

157.325 ab 1 0 0.996 2
-3.894 αx 0 -0.996 0 -2.002
=
2.933 αy 0 -2 2.002 0
-1.937 αz 0 2.002 2 -0.996

157.000 ab 1 0 1 2
0.000 αx 0 -1 0 -2
=
0.000 αy 0 -2 2 0
0.000 αz 0 2 2 -1
 MATRIZ INVERSA RESUELTA
0.000 1.000 1.000 -0.500 0.000
0.000 0.000 -0.111 -0.222 0.222
=
24649.000 0.000 -0.111 0.278 0.222
0 0.000 -0.444 0.111 -0.111

-2089.359 1.000 0.999 -0.498 0.000

-55.049 0.000 -0.111 -0.222 0.222
=
24522.989 0.000 -0.111 0.278 0.222
0 0.000 -0.444 0.111 -0.111

-4069.888 1.000 0.997 -0.491 0.000

-218.274 0.000 -0.109 -0.222 0.223
=
24171.765 0.000 -0.109 0.277 0.222
0 0.000 -0.445 0.109 -0.109

-5903.681 1.000 0.992 -0.479 0.000

-476.361 0.000 -0.107 -0.222 0.224
=
23580.851 0.000 -0.106 0.275 0.222
0 0.000 -0.444 0.106 -0.107

-7602.833 1.000 0.986 -0.463 0.000

-815.303 0.000 -0.104 -0.222 0.225
=
22786.868 0.000 -0.103 0.274 0.222
0 0.000 -0.444 0.103 -0.104

-9180.157 1.000 0.978 -0.443 0.000

-1219.541 0.000 -0.101 -0.222 0.227
=
21779.542 0.000 -0.099 0.272 0.222
0 0.000 -0.445 0.099 -0.101

-10610.882 1.000 0.970 -0.420 0.000

-1662.093 0.000 -0.096 -0.222 0.229
=
20626.348 0.000 -0.093 0.269 0.222
0 0.000 -0.445 0.093 -0.096

-11926.981 1.000 0.961 -0.394 0.000

-2135.075 0.000 -0.091 -0.222 0.231
=
19313.218 0.000 -0.087 0.267 0.222
0 0.000 -0.445 0.087 -0.091
-13105.851 1.000 0.952 -0.365 0.000
-2611.572 0.000 -0.085 -0.222 0.233
=
17880.902 0.000 -0.081 0.264 0.222
0 0.000 -0.445 0.081 -0.085

-14159.749 1.000 0.943 -0.333 0.000

-3080.711 0.000 -0.079 -0.222 0.236
=
16337.812 0.000 -0.074 0.262 0.222
0 0.000 -0.445 0.074 -0.079

-15098.743 1.000 0.934 -0.300 0.000

-3531.645 0.000 -0.071 -0.222 0.238
=
14713.883 0.000 -0.067 0.259 0.222
0 0.000 -0.445 0.067 -0.071

-15916.034 1.000 0.925 -0.266 0.000

-3953.260 0.000 -0.064 -0.222 0.240
=
13013.940 0.000 -0.059 0.257 0.222
0 0.000 -0.446 0.059 -0.064

-16620.714 1.000 0.918 -0.229 0.000

-4337.146 0.000 -0.056 -0.222 0.242
=
11240.214 0.000 -0.051 0.255 0.222
0 0.000 -0.446 0.051 -0.056

-17205.768 1.000 0.911 -0.193 0.000

-4668.694 0.000 -0.047 -0.222 0.244
=
9439.098 0.000 -0.043 0.253 0.222
0 0.000 -0.446 0.043 -0.047

-17691.347 1.000 0.905 -0.155 0.000

-4958.111 0.000 -0.038 -0.222 0.246
=
7582.121 0.000 -0.034 0.251 0.222
0 0.000 -0.447 0.034 -0.038

-18056.415 1.000 0.900 -0.117 0.000

-5181.917 0.000 -0.029 -0.222 0.247
=
5713.033 0.000 -0.026 0.250 0.222
0 0.000 -0.447 0.026 -0.029

-18319.137 1.000 0.897 -0.078 0.000

-5347.805 0.000 -0.019 -0.222 0.248
=
 =
3823.667 0.000 -0.017 0.249 0.222
0 0.000 -0.447 0.017 -0.019

-18470.473 1.000 0.895 -0.039 0.000

-5443.089 0.000 -0.010 -0.222 0.248
=
1907.689 0.000 -0.009 0.249 0.222
0 0.000 -0.447 0.009 -0.010

-18524.886 1.000 0.894 0.000 0.000

-5477.741 0.000 0.000 -0.222 0.248
=
0.000 0.000 0.000 0.248 0.222
0 0.000 -0.447 0.000 0.000

-18470.473 1.000 0.895 0.039 0.000

-5443.089 0.000 0.010 -0.222 0.248
=
-1907.689 0.000 0.009 0.249 0.222
0 0.000 -0.447 -0.009 0.010

-18319.137 1.000 0.897 0.078 0.000

-5347.805 0.000 0.019 -0.222 0.248
=
-3823.667 0.000 0.017 0.249 0.222
0 0.000 -0.447 -0.017 0.019

-18056.415 1.000 0.900 0.117 0.000

-5181.917 0.000 0.029 -0.222 0.247
=
-5713.033 0.000 0.026 0.250 0.222
0 0.000 -0.447 -0.026 0.029

-17691.347 1.000 0.905 0.155 0.000

-4958.111 0.000 0.038 -0.222 0.246
=
-7582.121 0.000 0.034 0.251 0.222
0 0.000 -0.447 -0.034 0.038

-17205.768 1.000 0.911 0.193 0.000

-4668.694 0.000 0.047 -0.222 0.244
=
-9439.098 0.000 0.043 0.253 0.222
0 0.000 -0.446 -0.043 0.047

-16620.714 1.000 0.918 0.229 0.000

-4337.146 0.000 0.056 -0.222 0.242
=
-11240.214 0.000 0.051 0.255 0.222
0 0.000 -0.446 -0.051 0.056
-15916.034 1.000 0.925 0.266 0.000
-3953.260 0.000 0.064 -0.222 0.240
=
-13013.940 0.000 0.059 0.257 0.222
0 0.000 -0.446 -0.059 0.064

-15098.743 1.000 0.934 0.300 0.000

-3531.645 0.000 0.071 -0.222 0.238
=
-14713.883 0.000 0.067 0.259 0.222
0 0.000 -0.445 -0.067 0.071

-14159.749 1.000 0.943 0.333 0.000

-3080.711 0.000 0.079 -0.222 0.236
=
-16337.812 0.000 0.074 0.262 0.222
0 0.000 -0.445 -0.074 0.079

-13105.851 1.000 0.952 0.365 0.000

-2611.572 0.000 0.085 -0.222 0.233
=
-17880.902 0.000 0.081 0.264 0.222
0 0.000 -0.445 -0.081 0.085

-11926.981 1.000 0.961 0.394 0.000

-2135.075 0.000 0.091 -0.222 0.231
=
-19313.218 0.000 0.087 0.267 0.222
0 0.000 -0.445 -0.087 0.091

-10610.882 1.000 0.970 0.420 0.000

-1662.093 0.000 0.096 -0.222 0.229
=
-20626.348 0.000 0.093 0.269 0.222
0 0.000 -0.445 -0.093 0.096

-9180.157 1.000 0.978 0.443 0.000

-1219.541 0.000 0.101 -0.222 0.227
=
-21779.542 0.000 0.099 0.272 0.222
0 0.000 -0.445 -0.099 0.101

-7602.833 1.000 0.986 0.463 0.000

-815.303 0.000 0.104 -0.222 0.225
=
-22786.868 0.000 0.103 0.274 0.222
0 0.000 -0.444 -0.103 0.104

-5903.681 1.000 0.992 0.479 0.000

-476.361 0.000 0.107 -0.222 0.224
=
-23580.851 0.000 0.106 0.275 0.222
 0 0.000 -0.444 -0.106 0.107

-4069.888 1.000 0.997 0.491 0.000

-218.274 0.000 0.109 -0.222 0.223
=
-24171.765 0.000 0.109 0.277 0.222
0 0.000 -0.445 -0.109 0.109

-2089.378 1.000 0.999 0.498 0.000

-55.030 0.000 0.111 -0.222 0.222
=
-24522.999 0.000 0.111 0.278 0.222
0 0.000 -0.444 -0.111 0.111

0.000 1.000 1.000 0.500 0.000

0.000 0.000 0.111 -0.222 0.222
=
-24649.000 0.000 0.111 0.278 0.222
0 0.000 -0.444 -0.111 0.111

2199.548 1.000 0.999 0.498 0.000

-55.030 0.000 0.111 -0.222 0.222
=
-24522.999 0.000 0.111 0.278 0.222
0 0.000 -0.444 -0.111 0.111

4507.964 1.000 0.997 0.491 0.000

-218.274 0.000 0.109 -0.222 0.223
=
-24171.765 0.000 0.109 0.277 0.222
0 0.000 -0.445 -0.109 0.109

6864.501 1.000 0.992 0.479 0.000

-476.361 0.000 0.107 -0.222 0.224
=
-23580.851 0.000 0.106 0.275 0.222
0 0.000 -0.444 -0.106 0.107

9257.083 1.000 0.986 0.463 0.000

-815.303 0.000 0.104 -0.222 0.225
=
-22786.868 0.000 0.103 0.274 0.222
0 0.000 -0.444 -0.103 0.104

11672.897 1.000 0.978 0.443 0.000

-1219.541 0.000 0.101 -0.222 0.227
=
-21779.542 0.000 0.099 0.272 0.222
0 0.000 -0.445 -0.099 0.101

14038.118 1.000 0.970 0.420 0.000

 -1662.093 0.000 0.096 -0.222 0.229
=
-20626.348 0.000 0.093 0.269 0.222
0 0.000 -0.445 -0.093 0.096

16370.071 1.000 0.961 0.394 0.000

-2135.075 0.000 0.091 -0.222 0.231
=
-19313.218 0.000 0.087 0.267 0.222
0 0.000 -0.445 -0.087 0.091

18592.763 1.000 0.952 0.365 0.000

-2611.572 0.000 0.085 -0.222 0.233
=
-17880.902 0.000 0.081 0.264 0.222
0 0.000 -0.445 -0.081 0.085

20693.937 1.000 0.943 0.333 0.000

-3080.711 0.000 0.079 -0.222 0.236
=
-16337.812 0.000 0.074 0.262 0.222
0 0.000 -0.445 -0.074 0.079

22663.525 1.000 0.934 0.300 0.000

-3531.645 0.000 0.071 -0.222 0.238
=
-14713.883 0.000 0.067 0.259 0.222
0 0.000 -0.445 -0.067 0.071

24459.028 1.000 0.925 0.266 0.000

-3953.260 0.000 0.064 -0.222 0.240
=
-13013.940 0.000 0.059 0.257 0.222
0 0.000 -0.446 -0.059 0.064

26071.354 1.000 0.918 0.229 0.000

-4337.146 0.000 0.056 -0.222 0.242
=
-11240.214 0.000 0.051 0.255 0.222
0 0.000 -0.446 -0.051 0.056

27458.220 1.000 0.911 0.193 0.000

-4668.694 0.000 0.047 -0.222 0.244
=
-9439.098 0.000 0.043 0.253 0.222
0 0.000 -0.446 -0.043 0.047

28648.773 1.000 0.905 0.155 0.000

-4958.111 0.000 0.038 -0.222 0.246
=
-7582.121 0.000 0.034 0.251 0.222
0 0.000 -0.447 -0.034 0.038
29565.453 1.000 0.900 0.117 0.000
-5181.917 0.000 0.029 -0.222 0.247
=
-5713.033 0.000 0.026 0.250 0.222
0 0.000 -0.447 -0.026 0.029

30239.393 1.000 0.897 0.078 0.000

-5347.805 0.000 0.019 -0.222 0.248
=
-3823.667 0.000 0.017 0.249 0.222
0 0.000 -0.447 -0.017 0.019

30630.335 1.000 0.895 0.039 0.000

-5443.089 0.000 0.010 -0.222 0.248
=
-1907.689 0.000 0.009 0.249 0.222
0 0.000 -0.447 -0.009 0.010

30773.114 1.000 0.894 0.000 0.000

-5477.741 0.000 0.000 -0.222 0.248
=
0.000 0.000 0.000 0.248 0.222
0 0.000 -0.447 0.000 0.000

30630.335 1.000 0.895 -0.039 0.000

-5443.089 0.000 -0.010 -0.222 0.248
=
1907.689 0.000 -0.009 0.249 0.222
0 0.000 -0.447 0.009 -0.010

30239.393 1.000 0.897 -0.078 0.000

-5347.805 0.000 -0.019 -0.222 0.248
=
3823.667 0.000 -0.017 0.249 0.222
0 0.000 -0.447 0.017 -0.019

29565.453 1.000 0.900 -0.117 0.000

-5181.917 0.000 -0.029 -0.222 0.247
=
5713.033 0.000 -0.026 0.250 0.222
0 0.000 -0.447 0.026 -0.029

28648.773 1.000 0.905 -0.155 0.000

-4958.111 0.000 -0.038 -0.222 0.246
=
7582.121 0.000 -0.034 0.251 0.222
0 0.000 -0.447 0.034 -0.038

27458.220 1.000 0.911 -0.193 0.000

-4668.694 0.000 -0.047 -0.222 0.244
=
 =
9439.098 0.000 -0.043 0.253 0.222
0 0.000 -0.446 0.043 -0.047

26071.354 1.000 0.918 -0.229 0.000

-4337.146 0.000 -0.056 -0.222 0.242
=
11240.214 0.000 -0.051 0.255 0.222
0 0.000 -0.446 0.051 -0.056

24459.028 1.000 0.925 -0.266 0.000

-3953.260 0.000 -0.064 -0.222 0.240
=
13013.940 0.000 -0.059 0.257 0.222
0 0.000 -0.446 0.059 -0.064

22663.525 1.000 0.934 -0.300 0.000

-3531.645 0.000 -0.071 -0.222 0.238
=
14713.883 0.000 -0.067 0.259 0.222
0 0.000 -0.445 0.067 -0.071

20693.937 1.000 0.943 -0.333 0.000

-3080.711 0.000 -0.079 -0.222 0.236
=
16337.812 0.000 -0.074 0.262 0.222
0 0.000 -0.445 0.074 -0.079

18592.763 1.000 0.952 -0.365 0.000

-2611.572 0.000 -0.085 -0.222 0.233
=
17880.902 0.000 -0.081 0.264 0.222
0 0.000 -0.445 0.081 -0.085

16370.071 1.000 0.961 -0.394 0.000

-2135.075 0.000 -0.091 -0.222 0.231
=
19313.218 0.000 -0.087 0.267 0.222
0 0.000 -0.445 0.087 -0.091

14038.118 1.000 0.970 -0.420 0.000

-1662.093 0.000 -0.096 -0.222 0.229
=
20626.348 0.000 -0.093 0.269 0.222
0 0.000 -0.445 0.093 -0.096

11672.897 1.000 0.978 -0.443 0.000

-1219.541 0.000 -0.101 -0.222 0.227
=
21779.542 0.000 -0.099 0.272 0.222
0 0.000 -0.445 0.099 -0.101
 9257.083 1.000 0.986 -0.463 0.000
-815.303 0.000 -0.104 -0.222 0.225
=
22786.868 0.000 -0.103 0.274 0.222
0 0.000 -0.444 0.103 -0.104

6864.501 1.000 0.992 -0.479 0.000

-476.361 0.000 -0.107 -0.222 0.224
=
23580.851 0.000 -0.106 0.275 0.222
0 0.000 -0.444 0.106 -0.107

4507.964 1.000 0.997 -0.491 0.000

-218.274 0.000 -0.109 -0.222 0.223
=
24171.765 0.000 -0.109 0.277 0.222
0 0.000 -0.445 0.109 -0.109

2199.548 1.000 0.999 -0.498 0.000

-55.030 0.000 -0.111 -0.222 0.222
=
24522.999 0.000 -0.111 0.278 0.222
0 0.000 -0.444 0.111 -0.111

0.000 1.000 1.000 -0.500 0.000

0.000 0.000 -0.111 -0.222 0.222
=
24649.000 0.000 -0.111 0.278 0.222
0 0.000 -0.444 0.111 -0.111
 RSULTADOS
0.000 ab -12324.500
0.000 αx -5477.556
= =
24649.000 αy 6846.944
0 αz 2738.778

-2089.359 ab -14344.601
-55.049 αx -5443.449
= =
24522.989 αy 6811.235
0 αz 2735.627

-4069.888 ab -16150.474
-218.274 αx -5348.640
= =
24171.765 αy 6713.744
0 αz 2733.774

-5903.681 ab -17669.583
-476.361 αx -5188.227
= =
23580.851 αy 6546.553
0 αz 2720.966

-7602.833 ab -18963.238
-815.303 αx -4978.351
= =
22786.868 αy 6323.394
0 αz 2708.207

-9180.157 ab -20027.195
-1219.541 αx -4717.775
= =
21779.542 αy 6039.135
0 αz 2687.791

-10610.882 ab -20885.665
-1662.093 αx -4422.818
= =
20626.348 αy 5713.245
0 αz 2663.557

-11926.981 ab -21579.876
-2135.075 αx -4096.933
= =
19313.218 αy 5343.274
0 αz 2638.377
-13105.851 ab -22111.046
-2611.572 αx -3750.861
= =
17880.902 αy 4940.114
0 αz 2610.534

-14159.749 ab -22510.647
-3080.711 αx -3389.186
= =
16337.812 αy 4507.043
0 αz 2582.209

-15098.743 ab -22813.176
-3531.645 αx -3016.895
= =
14713.883 αy 4052.331
0 αz 2554.392

-15916.034 ab -23031.499
-3953.260 αx -2640.034
= =
13013.940 αy 3578.840
0 αz 2530.606

-16620.714 ab -23180.786
-4337.146 αx -2257.364
= =
11240.214 αy 3086.501
0 αz 2508.411

-17205.768 ab -23275.953
-4668.694 αx -1877.868
= =
9439.098 αy 2588.052
0 αz 2487.720

-17691.347 ab -23351.667
-4958.111 αx -1496.331
= =
7582.121 αy 2076.679
0 αz 2475.048

-18056.415 ab -23388.927
-5181.917 αx -1120.448
= =
5713.033 αy 1563.321
0 αz 2463.806

-18319.137 ab -23416.009
-5347.805 αx -746.419
= =
 = =
3823.667 αy 1045.683
0 αz 2457.461

-18470.473 ab -23417.719
-5443.089 αx -371.383
= =
1907.689 αy 521.451
0 αz 2450.940

-18524.886 ab -23424.475
-5477.741 αx 0.000
= =
0.000 αy 0.000
0 αz 2449.795

-18470.473 ab -23417.719
-5443.089 αx 371.383
= =
-1907.689 αy -521.451
0 αz 2450.940

-18319.137 ab -23416.009
-5347.805 αx 746.419
= =
-3823.667 αy -1045.683
0 αz 2457.461

-18056.415 ab -23388.927
-5181.917 αx 1120.448
= =
-5713.033 αy -1563.321
0 αz 2463.806

-17691.347 ab -23351.667
-4958.111 αx 1496.331
= =
-7582.121 αy -2076.679
0 αz 2475.048

-17205.768 ab -23275.953
-4668.694 αx 1877.868
= =
-9439.098 αy -2588.052
0 αz 2487.720

-16620.714 ab -23180.786
-4337.146 αx 2257.364
= =
-11240.214 αy -3086.501
0 αz 2508.411
-15916.034 ab -23031.499
-3953.260 αx 2640.034
= =
-13013.940 αy -3578.840
0 αz 2530.606

-15098.743 ab -22813.176
-3531.645 αx 3016.895
= =
-14713.883 αy -4052.331
0 αz 2554.392

-14159.749 ab -22510.647
-3080.711 αx 3389.186
= =
-16337.812 αy -4507.043
0 αz 2582.209

-13105.851 ab -22111.046
-2611.572 αx 3750.861
= =
-17880.902 αy -4940.114
0 αz 2610.534

-11926.981 ab -21579.876
-2135.075 αx 4096.933
= =
-19313.218 αy -5343.274
0 αz 2638.377

-10610.882 ab -20885.665
-1662.093 αx 4422.818
= =
-20626.348 αy -5713.245
0 αz 2663.557

-9180.157 ab -20027.195
-1219.541 αx 4717.775
= =
-21779.542 αy -6039.135
0 αz 2687.791

-7602.833 ab -18963.238
-815.303 αx 4978.351
= =
-22786.868 αy -6323.394
0 αz 2708.207

-5903.681 ab -17669.583
-476.361 αx 5188.227
= =
-23580.851 αy -6546.553
 0 αz 2720.966

-4069.888 ab -16150.474
-218.274 αx 5348.640
= =
-24171.765 αy -6713.744
0 αz 2733.774

-2089.378 ab -14344.606
-55.030 αx 5443.453
= =
-24522.999 αy -6811.235
0 αz 2735.619

0.000 ab -12324.500
0.000 αx 5477.556
= =
-24649.000 αy -6846.944
0 αz 2738.778

2199.548 ab -10055.680
-55.030 αx 5443.453
= =
-24522.999 αy -6811.235
0 αz 2735.619

4507.964 ab -7572.622
-218.274 αx 5348.640
= =
-24171.765 αy -6713.744
0 αz 2733.774

6864.501 ab -4901.401
-476.361 αx 5188.227
= =
-23580.851 αy -6546.553
0 αz 2720.966

9257.083 ab -2103.322
-815.303 αx 4978.351
= =
-22786.868 αy -6323.394
0 αz 2708.207

11672.897 ab 825.859
-1219.541 αx 4717.775
= =
-21779.542 αy -6039.135
0 αz 2687.791

14038.118 ab 3763.335
 -1662.093 αx 4422.818
= =
-20626.348 αy -5713.245
0 αz 2663.557

16370.071 ab 6717.176
-2135.075 αx 4096.933
= =
-19313.218 αy -5343.274
0 αz 2638.377

18592.763 ab 9587.568
-2611.572 αx 3750.861
= =
-17880.902 αy -4940.114
0 αz 2610.534

20693.937 ab 12343.039
-3080.711 αx 3389.186
= =
-16337.812 αy -4507.043
0 αz 2582.209

22663.525 ab 14949.092
-3531.645 αx 3016.895
= =
-14713.883 αy -4052.331
0 αz 2554.392

24459.028 ab 17343.563
-3953.260 αx 2640.034
= =
-13013.940 αy -3578.840
0 αz 2530.606

26071.354 ab 19511.282
-4337.146 αx 2257.364
= =
-11240.214 αy -3086.501
0 αz 2508.411

27458.220 ab 21388.035
-4668.694 αx 1877.868
= =
-9439.098 αy -2588.052
0 αz 2487.720

28648.773 ab 22988.453
-4958.111 αx 1496.331
= =
-7582.121 αy -2076.679
0 αz 2475.048
29565.453 ab 24232.941
-5181.917 αx 1120.448
= =
-5713.033 αy -1563.321
0 αz 2463.806

30239.393 ab 25142.521
-5347.805 αx 746.419
= =
-3823.667 αy -1045.683
0 αz 2457.461

30630.335 ab 25683.089
-5443.089 αx 371.383
= =
-1907.689 αy -521.451
0 αz 2450.940

30773.114 ab 25873.525
-5477.741 αx 0.000
= =
0.000 αy 0.000
0 αz 2449.795

30630.335 ab 25683.089
-5443.089 αx -371.383
= =
1907.689 αy 521.451
0 αz 2450.940

30239.393 ab 25142.521
-5347.805 αx -746.419
= =
3823.667 αy 1045.683
0 αz 2457.461

29565.453 ab 24232.941
-5181.917 αx -1120.448
= =
5713.033 αy 1563.321
0 αz 2463.806

28648.773 ab 22988.453
-4958.111 αx -1496.331
= =
7582.121 αy 2076.679
0 αz 2475.048

27458.220 ab 21388.035
-4668.694 αx -1877.868
= =
 = =
9439.098 αy 2588.052
0 αz 2487.720

26071.354 ab 19511.282
-4337.146 αx -2257.364
= =
11240.214 αy 3086.501
0 αz 2508.411

24459.028 ab 17343.563
-3953.260 αx -2640.034
= =
13013.940 αy 3578.840
0 αz 2530.606

22663.525 ab 14949.092
-3531.645 αx -3016.895
= =
14713.883 αy 4052.331
0 αz 2554.392

20693.937 ab 12343.039
-3080.711 αx -3389.186
= =
16337.812 αy 4507.043
0 αz 2582.209

18592.763 ab 9587.568
-2611.572 αx -3750.861
= =
17880.902 αy 4940.114
0 αz 2610.534

16370.071 ab 6717.176
-2135.075 αx -4096.933
= =
19313.218 αy 5343.274
0 αz 2638.377

14038.118 ab 3763.335
-1662.093 αx -4422.818
= =
20626.348 αy 5713.245
0 αz 2663.557

11672.897 ab 825.859
-1219.541 αx -4717.775
= =
21779.542 αy 6039.135
0 αz 2687.791
 9257.083 ab -2103.322
-815.303 αx -4978.351
= =
22786.868 αy 6323.394
0 αz 2708.207

6864.501 ab -4901.401
-476.361 αx -5188.227
= =
23580.851 αy 6546.553
0 αz 2720.966

4507.964 ab -7572.622
-218.274 αx -5348.640
= =
24171.765 αy 6713.744
0 αz 2733.774

2199.548 ab -10055.680
-55.030 αx -5443.453
= =
24522.999 αy 6811.235
0 αz 2735.619

0.000 ab -12324.500
0.000 αx -5477.556
= =
24649.000 αy 6846.944
0 αz 2738.778