400 NE D DOENTENN 
u —=$f (p, g Coso—r Sinow, qSinw+rCosw)=f (p', q, r') =w 
du 
1 — dp 
LA ! ! 
= f; (p, g Cos w — r Sin &, q Sin © + r Cos &)= f; (p',q',r) = 
U, = (p, qg Cos © — r Sin w, q Sin w + r Cos w) Cos w 
+ f (p, q Gos © — r Sin w, q Sin & + r Cos &w) Sin « 
ne = — — f, (p, q Cos © — r Sin &, q Sin © + r Cos w) Sin w 
+ f, (p, q Cos © — r Sin w, q Sin & + r Cos &) Cos w 
Ua. == JP: q Cos © — r Sin w, q Sin © + r Cos w) Cos w° 
+f (Pb, q Cos © — r Sin &, q Sin & + r Cos ©) Sin © Cos w 
2 
ce q Cos © — r Sin w, q Sin © + r Cos ©) Sin & Cos w 
HS. (Pb, q Cos © — r Sin w, q Sin © + r Cos w) Sin «? 
3. 
CSD TRY ’ / 5 2 "{ ’  ÈRE 2 Si n , »- © J 2 
—f p:q,r) Co m) +2fP,q2r)Sino Coso+f"(p, q,r') Sin © 
==, C0 + 2u,, Sin o Cos ou’, , Sin «? 
174 
TEE = (P, q Gos & — r Sin w, q Sin © + r Cos &) Sin & Cos & 
+f {p, q Cos © — r Sin &, q Sin & + r Cos w) Cos w? 
— f (P, q Cos © — r Sin ©, q Sin © + r Cos w) Sin w? 
an q Cos © — r Sin w, q Sin w + r Cos w) Sin & Cos w 
= Êre (p.9,r) +f"(p g',r°)] Sin « Cos w 
F1 (p'; gl) (Cos & — Sin w!) 
= (4, —u",,) Sin © Cos © + uw’, , (Gos w* — Sin «w°) 
ss. P: q Gos © — r Sin # q Sin w+- r Cos w) Sin w° 
SL q Cos © — r Sin &, q Sin © + r Cos &) Sin &w Cos w 
