Ra

ay
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az
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by
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fx
hz
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Rc

Rh

Rd

Rg

Re

F1
F1y
-1
0
0
0
0
0
0
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0
0
0
0
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0
0
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0
0
0
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F2
F2x
0
-0.93
0
0
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0
0
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0
0
0
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F2z
0
0
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F3
F3x
0
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F5
F5x
0
0
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F5z
0
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0.36

F6
F6y
0
0
0
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0
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0
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0
0
0
0
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F7x
0
0
0
0
0
0
0
0
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0
0
0
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0
0
0
0
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0
0
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F7
F7y
0
0
0
0
0
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F7z
0
0
0
0
0
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0
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F8
F8x
0
0
0
0
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0
0
0
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0
0
0
0
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F9
F9y
0
0
0
0
0
0
0
0
0
0
0
0
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0
0
0
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0
0
0
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F9z
0
0
0
0
0
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0
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0
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0
0
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F10
F10y
0
0
0
0
0
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0
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0
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0
0
0
0
0
0
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F11
F11x
0
0
0
0
0
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0
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0
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0
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F12
F12y F12z
0
0
0
0
0
0
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0
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0
0
0
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0
0
0
0
0
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0
0
0
0
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0
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0
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0
0
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0
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F13
F13x
0
0
0
0
0
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0
0
0
0
0
0
0
0
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0
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0
0
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F14x
0
0
0
0
0
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0
0
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0
0
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0
0
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0
0
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F14
F14y
0
0
0
0
0
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0
0
0
0
0
0
0
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0
0
0
0
0
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0
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F14z
0
0
0
0
0
0
0
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0
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0
0
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0
0
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0.29
0.23

F15
Fext
F15x F15y
0
0
0
0
0
0
0
0
1885.5
0
0
0
0
0
0
0
0
0
0
0
2705
0
0
0
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0
0
0
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0
0
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0
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0
0
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0
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-1
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0
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0
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0
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0
0
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0
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0
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0
0
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F1
F2
F3
F4
F5
F6
F7
F8
F9
F10
F11
F12
F13
F14

F15

F1y
F2x
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0
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Ra

x
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ay
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fx
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Rc

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F1
F1y
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F2
F2x
0
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F2z
0
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F3
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0
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0
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F5
F5x
0
0
0
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0
0
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F5z
0
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0.36

F6
F6y
0
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F7x
0
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F7
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0
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0
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F8
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0
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F9
F9y
0
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F9z
0
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F10
F10y
0
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F11
F11x
0
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F12y F12z
0
0
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F13
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0
0
0
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0
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0
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F14x
0
0
0
0
0
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0
0
0
0
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0
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0
0
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F14
F14y
0
0
0
0
0
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0
0
0
0
0
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0
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0
0
0
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F14z
0
0
0
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0
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0.29
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F15
Fext
F15x F15y
0
0
0
0
0
0
0
0
1885.5
0
0
0
0
0
0
0
0
0
0
0
2705
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0
0
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0
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0
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0
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