Report - Y y j r x i x - MIT OpenCourseWare · 2020-01-04 · 0 12 $ ! 3 # ' % θ θ θ t 1 t 2 X Y R y x # $ %# ! x = R sin θ y = R (1 – cos θ) 12⁄ α = R d sin θ 2 + d (1 – cos

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