UJoint
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Diagram of variables for the universal joint. The axis of axle 1 is perpendicular to the red plane and the axis of axle 2 is perpendicular to the blue plane, which are at an angle β with respect to each other. The angular displacement of each axle is given by and respectively, which are the angles of the unit vectors and with respect to their initial positions along the x and y axes respectively. The and vectors are fixed in the gymbal which connects the two joints and so are constrained to remain perpendicular to each other at all times.
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PD-self
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Public domain
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