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## Homework Statement

x= cosθ

_{1}p

_{3}(cosθ

_{23})+cosθ

_{1}(cosθ

_{2}p

_{2}-a)-sinθ

_{1}p

_{1}

y= sinθ

_{1}p

_{3}(cosθ

_{23})+sinθ

_{1}(cosθ

_{2}p

_{2}-a)+cosθ

_{1}p

_{1}

z= sinθ

_{23}p

_{3}-sinθ

_{2}p

_{3}

## Homework Equations

cosθ

_{23}= cos(θ

_{2}+θ

_{3})

sinθ

_{23}= sin(θ

_{2}+θ

_{3})

Finding θ

_{1},θ

_{2},θ

_{3}. Solve in terms of x,y,z,p

Pls help to solve this algebra equation by eliminating the variable. Thanks in advance for the helping..im doing my final year project and came across to this unsolvable problem..

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