case is also zero) the point of intersection appears. The following vector equations are constructed for various groups of possible points of interaction : When vector p goes to zero equation (4.15) is converted into a constraint equation, and parameters and define the coordinates of the found point (w = 0). Figure 4.4. Points of interaction . are unit vectors of axes and . Their components in the first system of coordinates are defined by the first columns of the appropriate transformation matrices. The vector unites the centers of the rings and is equal to
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