[(i V)i] =cos e(u V)u+sine(iV)v cosolu m2)+m( ra0 cos 6-+sin e e-+sin e 06 6 +u. cos0-+sin 0 u,(cos u+sin v)+er a (cos0 u+sin 0 v)-(sin 8 u+cos 0 v)] +u-(cos0 u+sin 0 v) lo tu ar r- r a sin 6 a ar cos0 u=cosO u+sin 6 v ar sIn 8+ cose sin eu+cos0 v r( ) cos ( ) sin ( )  cos sin cos sin cos sin cos sin cos r r z r z r z r u u u u u v u u u v v v u u u u u u r r z r r z u v u v u u r r r u v u z z u r                    =  +            = + + + + +                       = + + +                 + +        =  ( ) 2 sin [ (cos sin ) ( sin cos )] (cos sin ) z r r r r z r r r r z u u v u v u v r u u v z u u u u u u u r r z u u u u u u u r r z r                 + + + − − +   + +       = + − +           = + + −         = = − + = + sin cos cos sin u w u u v u u v z r                 =     +   =     −   =   cos sin sin cos z z y r r x r r      