P p e R31 p ppm Vme R49

Subsequently, consider an arbitrary path point pp (m), and define a path-fixed reference frame with origin at this point. Starting with the same orientation as the stationary frame, two consecutive elementary rotations can be performed to arrive at this path-fixed frame. The first is to positively rotate the stationary frame an angle

about its z-axis, while the second is to positively rotate the resulting intermediate frame an angle

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