Expression 5: left parenthesis, left parenthesis, 1 minus "t" , right parenthesis "r" Subscript, 1 , Baseline cos left parenthesis, "q" Subscript, 1 , Baseline , right parenthesis , left parenthesis, 1 minus "t" , right parenthesis "r" Subscript, 1 , Baseline sin left parenthesis, "q" Subscript, 1 , Baseline , right parenthesis , right parenthesis1−tr1cosq1,1−tr1sinq1
00
domain t Minimum:
less than or equal to "t" less than or equal to≤t≤
domain t Maximum: "r" Subscript, 1 , Baseliner1
5
Expression 6: left parenthesis, left parenthesis, 1 minus "t" , right parenthesis "r" Subscript, 1 , Baseline cos left parenthesis, "q" Subscript, 1 , Baseline , right parenthesis plus "t" left parenthesis, "r" Subscript, 1 , Baseline cos left parenthesis, "q" Subscript, 1 , Baseline , right parenthesis plus "r" Subscript, 2 , Baseline cos left parenthesis, "q" Subscript, 1 , Baseline plus "q" Subscript, 2 , Baseline , right parenthesis , right parenthesis , left parenthesis, 1 minus "t" , right parenthesis "r" Subscript, 1 , Baseline sin left parenthesis, "q" Subscript, 1 , Baseline , right parenthesis plus "t" left parenthesis, "r" Subscript, 1 , Baseline sin left parenthesis, "q" Subscript, 1 , Baseline , right parenthesis plus "r" Subscript, 2 , Baseline sin left parenthesis, "q" Subscript, 1 , Baseline plus "q" Subscript, 2 , Baseline , right parenthesis , right parenthesis , right parenthesis1−tr1cosq1+tr1cosq1+r2cosq1+q2,1−tr1sinq1+tr1sinq1+r2sinq1+q2
00
domain t Minimum:
less than or equal to "t" less than or equal to≤t≤
domain t Maximum: 2 "r" Subscript, 2 , Baseline2r2