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Stivhedsmatricen<br />

q 1 q 2<br />

u 1 u 2<br />

v 1<br />

v 2<br />

EA/L 0 0<br />

<br />

<br />

−EA/L 0 0<br />

∙<br />

u 1<br />

v 1<br />

θ 1<br />

u = 2<br />

v 2<br />

θ 2<br />

R u1<br />

R v1<br />

R θ1<br />

R u2<br />

R v2<br />

R θ2<br />

28

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