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Φ(t)
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r(t) sin[Ψ(t) - Φ(t)]. x(t). r(t). Ψ(t) - Φ(t). Ψ(t). Φ(t). Φ(t). r(t) cos[Ψ(t) - Φ(t)]. a c. θ(t). Φ(t).
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Φ(t)
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r(t) sin[Ψ(t) - Φ(t)] x(t) r(t) Ψ(t) - Φ(t) Ψ(t) Φ(t) Φ(t) r(t) cos[Ψ(t) - Φ(t)] ac θ(t) Φ(t)