Robotic systems: advanced techniques and applications

Ok, so I keep seeing textbooks handwave over this:Constants (displaystyle A),(displaystyle B),(displaystyle C), and (displaystyle D) exist such that (displaystyle A cos(omega t)+B sin(omega t))can be rewritten as(displaystyle C cos(omega t -D))But I haven"t bee able khổng lồ find/figure out the derivation of this. Can someone help me fill in the details of this?P.S. I found one book that added (displaystyle C=sqrtA^2+b^2) and (displaystyle D= an^-1(B/A)).

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Ok, so I keep seeing textbooks handwave over this:Constants (displaystyle A),(displaystyle B),(displaystyle C), và (displaystyle D) exist such that (displaystyle A cos(omega t)+B sin(omega t))can be rewritten as(displaystyle C cos(omega t -D))But I haven"t bee able to find/figure out the derivation of this. Can someone help me fill in the details of this?P.S. I found one book that added (displaystyle C=sqrtA^2+b^2) và (displaystyle D= an^-1(B/A)).

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Let A = C*cos(D) and B = C*sin(D)Then (displaystyle A^2 + B^2 = C^2)(displaystyle C = sqrtA^2 + B^2)Acos(ωt) + Bsin(ωt) = (displaystyle (sqrtA^2 + B^2)(fracAsqrtA^2 + B^2cos(omegat) + fracBsqrtA^2 + B^2sin(omegat)))Now proceed.
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Solve for multiple bond yields, where total income, individual bond par value and yield relationships are known
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Solve for multiple bond yields, where total income, individual bond par value & yield relationships are known
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