1
z
)
i
i
i
z
r
r
r
´
=
z
i
d
d
r
r
×
=
dt
d
i
dt
d
z
=
=
w
r
r
r
sss
snn
x
y
z
z
=
=
=
1
z
)
i
i
i
z
r
r
r
´
=
z
i
d
d
r
r
×
=
dt
d
i
dt
d
z
=
=
w
r
r
r
sss
snn
x
y
z
z
=
=
=
2
i
r
r
×
=
i
d
d
r
r
×
=
d
d
×
=
i
i
i
z
r
r
r
´
=
)
(
)
(
)
(
i
i
d
i
i
d
d
z
z
r
s
r
s
r
×
´
×
=
´
×
×
=
eeeeeneseseenne ennnsee
r
r
r
´
= d
d
3
r
0 0
eeeeeneseseenne ennnsee
´
=
r
r
r
d
d
´
=
´
=
=
r
r
r
r
r
r
dt
d
dt
d
dt
d
v
´
w
=
r
r
r
v
4
2
2
dt
d
dt
d
w
e
r
r
r
=
=
eee seneseenne ennnsee
)
)
dt
d
dt
d
dt
d
dt
v
d
a
´
w
+
´
w
=
´
w
=
=
r
r
r
r
r
r
r
r
v
a
r
r
r
r
r
´
w
+
´
e
=
eee seneseenne s sene
´
e
=
r
r
r
s
a
)
)
)
´
w
´
w
=
´
w
=
r
r
r
r
r
r
v
a
n
w
-
=
r
r
2
n
a