V=u-+v-+w ax ay az a sine a a cos0 a uI cos0-- +vI sin e + 06 (cose u+sin 0v)-+-(sin 0 u+cos0 v)-+w 06z a0-az a sin 0 a cOS OI r u= cosby+sin 0v a cos0 a sin 6-+ n Ou+cos v r00 A ui. V( ) ( ) 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       r z D u u u u Dt t t r r z        = +  = + + +     