alfa 0 30 45 60 9 1 2 3 0 8 7 6 0 0 0 sin 0 0.5 Rut2 Rut3 1 0 -1 0 /2 /2 cos 1 Rut Rut2 0.5 0 -1 0 1 3/2 /2 tan 0 Rut 1 Rut3 - 0 - 0 3/3 cot - Rut 1 Rut3 1 - 0 - 3 /3