+ ul cos a sine a +vl sin e 06 a cos0 a+wa (cosO u+sine v)=+=(sin 0 u+ coSe v)aa 06 +u ar r ae a sin 6 a cos e r06 u= coSu+sin bv a cos0 a sn6-+ l =-sin Ou+cos0 v ar r a0( ) ( ) sin cos cos sin 1 cos sin sin cos r z u u v w x y z u v w r r r r z u v u v w r r z u u u r r z                  = + +             = − + + +                 = + + − + +       = + +         = = − + = + 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      