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1 0 0 0
0 cos sen 0
Rx ( )
0 sen cos 0
0 0 0 1
uz U
d
uy
cos=uz/d
sen=uy/d
1 0 0 0
0 uz/d uy/d 0
Rx ( )
0 uy/d uz/d 0
0 0 0 1
ux
x
d
d 2+ux 2
cos 0 sen 0
0 1 0 0
Ry ( )
sen 0 cos 0
0 0 0 1
d
sen= d +ux 2 2
ux
cos= d +ux 2
2
d 2+ux 2 =|U|
ux 0 d 0
0 1 0 0
Ry ( )
d 0 ux 0
0 0 0 1
Asumo U unitario
sen=d
cos=ux
1 0 0 0
0 cos sen 0
Rx ( )
0 sen cos 0
0 0 0 1
ux 0 d 0 1 0 0 0
0 1 0 0 0 uz/d uy/d 0
Ry ( ) Rx ( )
d 0 ux 0 0 - uy/d uz/d 0
0 0 0 1 0 0 0 1
Rx( ) Ry ( ) Rx ( ) Ry ( ) Rx ( )
MRu()= * * * *
2. Rotacin haciendo coincidir con el eje Z
hacer coincidir U con el eje de coordenadas Z
rotar e ngulo requerido
regresamos U a su posicin original
cos sen 0 0
sen cos 0 0
Rz ( )
0 0 1 0
0 0 0 1
ux
d
uy
U
uy/d ux/d 0 0
ux/d uy/d 0 0
Rz ( )
0 0 1 0
0 0 0 1
z
cos=uy/d
sen=ux/d
d 2+uy 2
uy
d
z
z
1 0 0 0
0 cos sen 0
Rx ( )
0 sen cos 0
0 0 0 1
d
sen= d +uy 2 2
uy
cos= d +uy 2 2
d 2+uy 2 =|U|
1 0 0 0
0 d uy 0
Rx ( )
0 uy d 0
0 0 0 1
Asumo U unitario
sen=d
cos=uy
cos sen 0 0
sen cos 0 0
Rz ( )
0 0 1 0
0 0 0 1
uy/d ux/d 0 0 1 0 0 0
- ux/d uy/d 0 0 0 d uy 0
Rz ( ) Rx ( )
0 0 1 0 0 uy d 0
0 0 0 1 0 0 0 1
Rz ( ) Rx( ) Rz ( ) Rx ( ) Rz ( )
MRu()= * * * *