$space Evaluate increment space space equals space open vertical bar table row 0 cell sin space straight alpha end cell cell negative cos space straight alpha end cell row cell negative sin space straight alpha end cell 0 cell sin space straight beta end cell row cell cos space straight alpha end cell cell negative sin space straight beta end cell 0 end table close vertical bar$

increment space space equals space open vertical bar table row 0 cell sin space straight alpha end cell cell negative cos space straight alpha end cell row cell negative sin space straight alpha end cell 0 cell sin space straight beta end cell row cell cos space straight alpha end cell cell negative sin space straight beta end cell 0 end table close vertical bar equals space 0 space open vertical bar table row 0 cell space space space space sin space straight beta end cell row cell negative sin space straight beta end cell cell space 0 end cell end table close vertical bar space minus sin space straight a space space open vertical bar table row 0 cell space space space space sin space straight beta end cell row cell negative sin space straight beta end cell cell space 0 end cell end table close vertical bar space plus space left parenthesis cos minus straight alpha right parenthesis space space open vertical bar table row cell negative sin space straight beta end cell cell space space 0 end cell row cell cos space straight alpha end cell cell negative sin space straight beta end cell end table close vertical bar equals space 0 minus sin space straight alpha space left parenthesis 0 minus space cos space straight alpha space sin space straight beta right parenthesis minus space cos space alpha space left parenthesis sin space alpha space sin space beta minus 0 right parenthesis equals space sin space alpha space cos space alpha space sin space beta space minus space sin space alpha space cos space alpha space sin space beta equals 0

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Determinants

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