Cool Failure 1

수식 16: "x" Subscript, 2 , Baseline equals "R" Subscript, "o" "t" "a" "t" "e" "x" "y" , Baseline . "x"

수식 17: "y" Subscript, 2 , Baseline equals "R" Subscript, "o" "t" "a" "t" "e" "x" "y" , Baseline . "y"

수식 18: "z" Subscript, 2 , Baseline equals "z" Subscript, 1 , Baseline

수식 19: left parenthesis, "x" Subscript, 2 , Baseline , "z" Subscript, 2 , Baseline , right parenthesis

수식 20: "R" Subscript, "o" "t" "a" "t" "e" "y" "z" , Baseline equals "R" Subscript, "o" "t" "a" "t" "e" , Baseline left parenthesis, left parenthesis, "y" Subscript, 1 , Baseline , "z" Subscript, 1 , Baseline , right parenthesis , "b" Subscript, "e" "t" "a" , Baseline , right parenthesis

수식 21: "b" Subscript, "e" "t" "a" , Baseline equals 2.5 2

수식 22: "x" Subscript, 3 , Baseline equals "x" Subscript, 1 , Baseline

수식 23: "y" Subscript, 3 , Baseline equals "R" Subscript, "o" "t" "a" "t" "e" "y" "z" , Baseline . "x"

수식 24: "z" Subscript, 3 , Baseline equals "R" Subscript, "o" "t" "a" "t" "e" "y" "z" , Baseline . "y"

수식 25: "X" Subscript, "r" "e" "v" "i" "s" "e" "d" , Baseline left parenthesis, theta , phi , right parenthesis equals cosine left parenthesis, theta plus "a" Subscript, "l" "p" "h" "a" , Baseline , right parenthesis times cosine left parenthesis, phi , right parenthesis

수식 26: "Y" Subscript, "r" "e" "v" "i" "s" "e" "d" , Baseline left parenthesis, theta , phi , right parenthesis equals cosine left parenthesis, theta , right parenthesis times sine left parenthesis, "a" Subscript, "l" "p" "h" "a" , Baseline positive phi , right parenthesis times cosine left parenthesis, "b" Subscript, "e" "t" "a" , Baseline , right parenthesis minus sine left parenthesis, theta , right parenthesis times sine left parenthesis, "b" Subscript, "e" "t" "a" , Baseline , right parenthesis

수식 27: "Z" Subscript, "r" "e" "v" "i" "s" "e" "d" , Baseline left parenthesis, theta , phi , right parenthesis equals cosine left parenthesis, theta , right parenthesis times sine left parenthesis, "b" Subscript, "e" "t" "a" , Baseline , right parenthesis times sine left parenthesis, phi plus "a" Subscript, "l" "p" "h" "a" , Baseline , right parenthesis plus sine left parenthesis, theta , right parenthesis times cosine left parenthesis, "b" Subscript, "e" "t" "a" , Baseline , right parenthesis

수식 28: "x" Subscript, 4 , Baseline equals "X" Subscript, "r" "e" "v" "i" "s" "e" "d" , Baseline left parenthesis, "P" . "x" , "P" . "y" , right parenthesis

수식 29: "y" Subscript, 4 , Baseline equals "Y" Subscript, "r" "e" "v" "i" "s" "e" "d" , Baseline left parenthesis, "P" . "x" , "P" . "y" , right parenthesis

수식 30: "z" Subscript, 4 , Baseline equals "Z" Subscript, "r" "e" "v" "i" "s" "e" "d" , Baseline left parenthesis, "P" . "x" , "P" . "y" , right parenthesis

수식 31: left parenthesis, "x" Subscript, 4 , Baseline , "z" Subscript, 4 , Baseline , right parenthesis