“…$ = cos e and li = cos Or, the Euler angles, 6, 8, and v, specify the orientation of the structural unit, O-u1uZu3, with respect to the reference coordinates, O-x1xzx3, and the angles, Oj and +, , are the polar and azimuthal angles which specify the orientation of the j t h axis, r5, with respect to the reference coordinates, as shown in and The orientation of the jth axis r5 with respect to the coordinates O-uluzua can be specified, as shown in Figure 3, by the polar and azimuthal angles, (3, and a,. The two sets of angles O, , cp, and e,, aj referring to the vector r, are related by sin e, cos aj (5) where T(4, 0 , q ) is a linear transformation operator* given by the following (3 X 3) matrix:…”