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Jacobians in kinematics

  1. Nov 5, 2015 #1
    Hey guys,

    Im studying for an exam and dont fully understand the jacobian process. Speciffically how you can differential the middle colum with respect to theta_3. Please view attached. So from step 1 to 2. Thanks.
     

    Attached Files:

  2. jcsd
  3. Nov 5, 2015 #2
    So r_2cos(theta_2) goes to -cos(theta_3)

    How?
     
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