SamuelGHOSTY

I found a book (http://hades.mech.northwestern.edu/images/7/7f/MR.pdf#page=531&zoom=100,0,222 (page 517)) and there are some equations that bugs me. On pictures you can see that with equations from pictures 1 and 2 we can get equation on picture 4. How does that happen? I tried to solve it by myself but I got different first row in equation on picture 4. It will be much better if you show me how to get the last equation step by step. All Beta i equal to 0. l and w are shown in the picture 3 (those are lengths). wbz is an input variable, we doesnt need to know what it equals to for now.

I found an article with some equations and got some questions whether some of those equations are correct or not. On the picture you can see that matrix Tpi is on the left side, while matrix TR is on the right. Aren't they supposed to be vice versa? Link to the article: https://research.ijcaonline.org/volume113/number3/pxc3901586.pdf