... 10 00 210 03 010 20 01 .−− 10 00 010 00 010 00 01 .− 10 0000 01 0 010 010 0= . 10 00 210 03 010 20 01 −−− 10 0000 01 0 010 010 0= ... 10 00 10 00 010 00 01 . 10 00 010 00 010 0 01 1000 010 000cossin00sin-coshrαααα = 10 00h100rsin0cossinrcos0sin-cosαααααα Nhận xét: - Phép Cyl (α, ... trụ:=−−== 1 372 1 273 10 0000 01 0 010 010 0).90,(0vyRotw=== 1 12 14 5 1 372 10 00 910 07 010 30 01 ).9,7,3( wTranryxzAA 1 (-3 ,7,2)A2(2,7,3)A3(5 ,14 ,12 )VD3::...