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ca6eade0dda8c8ab155c0f9e2b1d15ba31b670a7: $$
A
bb85a5fdf5eb8c7283c674e7e4e935103af3155a: $$
\mathbf{y}_B=y_B \mathbf{e}_2
0f139de6b865930ba2c6c51f317f0bc1e84152f6: $$
\mathbf{h}=(H-x_A)\mathbf{e}_{BA}