id sid tid token lemma pos gs-2584 1 1 microsoft microsoft PROPN gs-2584 1 2 word word NOUN gs-2584 1 3 fullpdf06012024 fullpdf06012024 VERB gs-2584 1 4 georgian georgian ADJ gs-2584 1 5 scientists/ქართველი scientists/ქართველი NOUN gs-2584 1 6 მეცნიერები მეცნიერები NOUN gs-2584 1 7 ტ. ტ. VERB gs-2584 1 8 6 6 NUM gs-2584 1 9 n n NUM gs-2584 1 10 1 1 NUM gs-2584 1 11 , , PUNCT gs-2584 1 12 2024 2024 NUM gs-2584 1 13 135 135 NUM gs-2584 1 14 georgian georgian PROPN gs-2584 1 15 scientists scientist NOUN gs-2584 1 16 ქართველი ქართველი ADJ gs-2584 1 17 მეცნიერები მეცნიერები PROPN gs-2584 1 18 vol vol NOUN gs-2584 1 19 . . PROPN gs-2584 2 1 6 6 NUM gs-2584 2 2 issue issue NOUN gs-2584 2 3 1 1 NUM gs-2584 2 4 , , PUNCT gs-2584 2 5 2024 2024 NUM gs-2584 2 6 https://doi.org/10.52340/gs.2024.06.01.18 https://doi.org/10.52340/gs.2024.06.01.18 X gs-2584 2 7 by by ADP gs-2584 2 8 graphic graphic ADJ gs-2584 2 9 method method NOUN gs-2584 2 10 and and CCONJ gs-2584 2 11 using use VERB gs-2584 2 12 computer computer NOUN gs-2584 2 13 programs program NOUN gs-2584 2 14 determination determination NOUN gs-2584 2 15 of of ADP gs-2584 2 16 the the DET gs-2584 2 17 location location NOUN gs-2584 2 18 function function NOUN gs-2584 2 19 of of ADP gs-2584 2 20 spherical spherical ADJ gs-2584 2 21 lever lever NOUN gs-2584 2 22 mechanisms mechanism NOUN gs-2584 2 23 nana nana PROPN gs-2584 2 24 nozadze1 nozadze1 PROPN gs-2584 2 25 , , PUNCT gs-2584 2 26 prof prof PROPN gs-2584 2 27 . . PUNCT gs-2584 3 1 mzia mzia PROPN gs-2584 3 2 kiknadze1 kiknadze1 PROPN gs-2584 3 3 , , PUNCT gs-2584 3 4 davit davit NOUN gs-2584 3 5 mania2 mania2 PROPN gs-2584 3 6 1professor 1professor NUM gs-2584 3 7 , , PUNCT gs-2584 3 8 georgian georgian PROPN gs-2584 3 9 technical technical PROPN gs-2584 3 10 university university PROPN gs-2584 3 11 ; ; PUNCT gs-2584 3 12 2student 2student NUM gs-2584 3 13 , , PUNCT gs-2584 3 14 georgian georgian PROPN gs-2584 3 15 technical technical PROPN gs-2584 3 16 university university PROPN gs-2584 3 17 abstract abstract NOUN gs-2584 3 18 the the DET gs-2584 3 19 paper paper NOUN gs-2584 3 20 discusses discuss VERB gs-2584 3 21 the the DET gs-2584 3 22 definition definition NOUN gs-2584 3 23 of of ADP gs-2584 3 24 the the DET gs-2584 3 25 location location NOUN gs-2584 3 26 function function NOUN gs-2584 3 27 and and CCONJ gs-2584 3 28 graphic graphic ADJ gs-2584 3 29 method method NOUN gs-2584 3 30 for for ADP gs-2584 3 31 spherical spherical ADJ gs-2584 3 32 mechanisms mechanism NOUN gs-2584 3 33 . . PUNCT gs-2584 4 1 it it PRON gs-2584 4 2 addresses address VERB gs-2584 4 3 both both CCONJ gs-2584 4 4 the the DET gs-2584 4 5 analysis analysis NOUN gs-2584 4 6 and and CCONJ gs-2584 4 7 synthesis synthesis NOUN gs-2584 4 8 tasks task NOUN gs-2584 4 9 involved involve VERB gs-2584 4 10 in in ADP gs-2584 4 11 decision decision NOUN gs-2584 4 12 - - PUNCT gs-2584 4 13 making making NOUN gs-2584 4 14 . . PUNCT gs-2584 5 1 the the DET gs-2584 5 2 proposed propose VERB gs-2584 5 3 approach approach NOUN gs-2584 5 4 involves involve VERB gs-2584 5 5 various various ADJ gs-2584 5 6 geometric geometric ADJ gs-2584 5 7 figures figure NOUN gs-2584 5 8 , , PUNCT gs-2584 5 9 particularly particularly ADV gs-2584 5 10 spheres sphere NOUN gs-2584 5 11 , , PUNCT gs-2584 5 12 to to PART gs-2584 5 13 efficiently efficiently ADV gs-2584 5 14 solve solve VERB gs-2584 5 15 movement movement NOUN gs-2584 5 16 tasks task NOUN gs-2584 5 17 on on ADP gs-2584 5 18 their their PRON gs-2584 5 19 surfaces surface NOUN gs-2584 5 20 . . PUNCT gs-2584 6 1 this this DET gs-2584 6 2 method method NOUN gs-2584 6 3 provides provide VERB gs-2584 6 4 a a DET gs-2584 6 5 visible visible ADJ gs-2584 6 6 and and CCONJ gs-2584 6 7 less less ADJ gs-2584 6 8 time time NOUN gs-2584 6 9 - - PUNCT gs-2584 6 10 consuming consume VERB gs-2584 6 11 way way NOUN gs-2584 6 12 to to PART gs-2584 6 13 determine determine VERB gs-2584 6 14 the the DET gs-2584 6 15 coordinates coordinate NOUN gs-2584 6 16 of of ADP gs-2584 6 17 separate separate ADJ gs-2584 6 18 points point NOUN gs-2584 6 19 on on ADP gs-2584 6 20 spherical spherical ADJ gs-2584 6 21 mechanisms mechanism NOUN gs-2584 6 22 . . PUNCT gs-2584 7 1 keywords keyword NOUN gs-2584 7 2 : : PUNCT gs-2584 7 3 analysis analysis NOUN gs-2584 7 4 , , PUNCT gs-2584 7 5 synthesis synthesis NOUN gs-2584 7 6 , , PUNCT gs-2584 7 7 geometric geometric ADJ gs-2584 7 8 figure figure NOUN gs-2584 7 9 , , PUNCT gs-2584 7 10 sphere sphere ADV gs-2584 7 11 , , PUNCT gs-2584 7 12 retina retina NOUN gs-2584 7 13 , , PUNCT gs-2584 7 14 orthogonal orthogonal ADJ gs-2584 7 15 coordinates coordinate NOUN gs-2584 7 16 . . PUNCT gs-2584 8 1 introduction introduction NOUN gs-2584 8 2 geometric geometric ADJ gs-2584 8 3 character character NOUN gs-2584 8 4 modern modern ADJ gs-2584 8 5 technical technical ADJ gs-2584 8 6 tasks task NOUN gs-2584 8 7 solution solution NOUN gs-2584 8 8 to to ADP gs-2584 8 9 the the DET gs-2584 8 10 majority majority NOUN gs-2584 8 11 in in ADP gs-2584 8 12 case case NOUN gs-2584 8 13 analytical analytical ADJ gs-2584 8 14 methods method NOUN gs-2584 8 15 by by ADP gs-2584 8 16 means mean NOUN gs-2584 8 17 of of ADP gs-2584 8 18 happens happen VERB gs-2584 8 19 . . PUNCT gs-2584 9 1 despite despite SCONJ gs-2584 9 2 that that PRON gs-2584 9 3 _ _ PUNCT gs-2584 9 4 _ _ PUNCT gs-2584 9 5 this this DET gs-2584 9 6 time time NOUN gs-2584 9 7 research research NOUN gs-2584 9 8 results result NOUN gs-2584 9 9 is be AUX gs-2584 9 10 accepted accept VERB gs-2584 9 11 beforehand beforehand ADV gs-2584 9 12 given give VERB gs-2584 9 13 with with ADP gs-2584 9 14 accuracy accuracy NOUN gs-2584 9 15 , , PUNCT gs-2584 9 16 anyway anyway ADV gs-2584 9 17 should should AUX gs-2584 9 18 to to PART gs-2584 9 19 note note VERB gs-2584 9 20 graphic graphic ADJ gs-2584 9 21 for for ADP gs-2584 9 22 methods method NOUN gs-2584 9 23 characteristic characteristic ADJ gs-2584 9 24 whole whole ADJ gs-2584 9 25 row row NOUN gs-2584 9 26 advantages advantage NOUN gs-2584 9 27 . . PUNCT gs-2584 10 1 practice practice NOUN gs-2584 10 2 shows show VERB gs-2584 10 3 that that SCONJ gs-2584 10 4 _ _ DET gs-2584 10 5 mechanisms mechanism NOUN gs-2584 10 6 and and CCONJ gs-2584 10 7 tools tool NOUN gs-2584 10 8 construct construct VERB gs-2584 10 9 to to ADP gs-2584 10 10 the the DET gs-2584 10 11 majority majority NOUN gs-2584 10 12 cases case NOUN gs-2584 10 13 it it PRON gs-2584 10 14 is be AUX gs-2584 10 15 possible possible ADJ gs-2584 10 16 let let VERB gs-2584 10 17 's us PRON gs-2584 10 18 go go VERB gs-2584 10 19 more more ADV gs-2584 10 20 rationally rationally ADV gs-2584 10 21 and and CCONJ gs-2584 10 22 effectively effectively ADV gs-2584 10 23 , , PUNCT gs-2584 10 24 if if SCONJ gs-2584 10 25 we we PRON gs-2584 10 26 will will AUX gs-2584 10 27 use use VERB gs-2584 10 28 it it PRON gs-2584 10 29 computer computer NOUN gs-2584 10 30 equipment equipment NOUN gs-2584 10 31 . . PUNCT gs-2584 11 1 desired desire VERB gs-2584 11 2 each each DET gs-2584 11 3 one one NUM gs-2584 11 4 task task NOUN gs-2584 11 5 when when SCONJ gs-2584 11 6 deciding decide VERB gs-2584 11 7 let let VERB gs-2584 11 8 's us PRON gs-2584 11 9 take take VERB gs-2584 11 10 advantage advantage NOUN gs-2584 11 11 orthogonal orthogonal NOUN gs-2584 11 12 planned plan VERB gs-2584 11 13 , , PUNCT gs-2584 11 14 something something PRON gs-2584 11 15 if if SCONJ gs-2584 11 16 their their PRON gs-2584 11 17 use use VERB gs-2584 11 18 technical technical ADJ gs-2584 11 19 in in ADP gs-2584 11 20 the the DET gs-2584 11 21 field field NOUN gs-2584 11 22 worker worker NOUN gs-2584 11 23 any any PRON gs-2584 11 24 for for ADP gs-2584 11 25 an an DET gs-2584 11 26 engineer engineer NOUN gs-2584 11 27 is be AUX gs-2584 11 28 available available ADJ gs-2584 11 29 and and CCONJ gs-2584 11 30 no no INTJ gs-2584 11 31 they they PRON gs-2584 11 32 are be AUX gs-2584 11 33 married marry VERB gs-2584 11 34 of of ADP gs-2584 11 35 cadres cadre NOUN gs-2584 11 36 special special ADJ gs-2584 11 37 to to PART gs-2584 11 38 prepare prepare VERB gs-2584 11 39 . . PUNCT gs-2584 12 1 it it PRON gs-2584 12 2 should should AUX gs-2584 12 3 be be AUX gs-2584 12 4 noted note VERB gs-2584 12 5 here here ADV gs-2584 12 6 that that SCONJ gs-2584 12 7 , , PUNCT gs-2584 12 8 using use VERB gs-2584 12 9 modern modern ADJ gs-2584 12 10 computer computer NOUN gs-2584 12 11 programs program NOUN gs-2584 12 12 , , PUNCT gs-2584 12 13 it it PRON gs-2584 12 14 became become VERB gs-2584 12 15 possible possible ADJ gs-2584 12 16 to to PART gs-2584 12 17 carry carry VERB gs-2584 12 18 out out ADP gs-2584 12 19 kinematic kinematic ADJ gs-2584 12 20 and and CCONJ gs-2584 12 21 dynamic dynamic ADJ gs-2584 12 22 calculation calculation NOUN gs-2584 12 23 and and CCONJ gs-2584 12 24 construction construction NOUN gs-2584 12 25 of of ADP gs-2584 12 26 mechanisms mechanism NOUN gs-2584 12 27 with with ADP gs-2584 12 28 acceptable acceptable ADJ gs-2584 12 29 accuracy accuracy NOUN gs-2584 12 30 for for ADP gs-2584 12 31 engineering engineering NOUN gs-2584 12 32 practice practice NOUN gs-2584 12 33 . . PUNCT gs-2584 13 1 thus thus ADV gs-2584 13 2 , , PUNCT gs-2584 13 3 engineer engineer NOUN gs-2584 13 4 technical technical ADJ gs-2584 13 5 to to ADP gs-2584 13 6 the the DET gs-2584 13 7 staff staff NOUN gs-2584 13 8 and and CCONJ gs-2584 13 9 various various ADJ gs-2584 13 10 in in ADP gs-2584 13 11 the the DET gs-2584 13 12 field field NOUN gs-2584 13 13 working work VERB gs-2584 13 14 constructors constructor NOUN gs-2584 13 15 are be AUX gs-2584 13 16 given give VERB gs-2584 13 17 indefinite indefinite ADJ gs-2584 13 18 creative creative ADJ gs-2584 13 19 abilities ability NOUN gs-2584 13 20 tools tool NOUN gs-2584 13 21 , , PUNCT gs-2584 13 22 mechanisms mechanism NOUN gs-2584 13 23 and and CCONJ gs-2584 13 24 of of ADP gs-2584 13 25 cars car NOUN gs-2584 13 26 research research NOUN gs-2584 13 27 methods method NOUN gs-2584 13 28 during during ADP gs-2584 13 29 selection selection NOUN gs-2584 13 30 . . PUNCT gs-2584 14 1 spherical spherical ADJ gs-2584 14 2 mechanisms mechanism NOUN gs-2584 14 3 kinematic kinematic VERB gs-2584 14 4 analysis analysis NOUN gs-2584 14 5 time time NOUN gs-2584 14 6 more more ADV gs-2584 14 7 difficult difficult ADJ gs-2584 14 8 as as SCONJ gs-2584 14 9 an an DET gs-2584 14 10 operation operation NOUN gs-2584 14 11 is be AUX gs-2584 14 12 considered consider VERB gs-2584 14 13 mechanism mechanism NOUN gs-2584 14 14 location location NOUN gs-2584 14 15 function function NOUN gs-2584 14 16 determine determine VERB gs-2584 14 17 which which DET gs-2584 14 18 _ _ NOUN gs-2584 14 19 it it PRON gs-2584 14 20 is be AUX gs-2584 14 21 possible possible ADJ gs-2584 14 22 to to PART gs-2584 14 23 express express VERB gs-2584 14 24 only only ADV gs-2584 14 25 high high ADJ gs-2584 14 26 row row NOUN gs-2584 14 27 with with ADP gs-2584 14 28 equations equation NOUN gs-2584 14 29 . . PUNCT gs-2584 15 1 hard hard ADJ gs-2584 15 2 structure structure NOUN gs-2584 15 3 having have VERB gs-2584 15 4 mechanisms mechanism NOUN gs-2584 15 5 kinematic kinematic ADJ gs-2584 15 6 with with ADP gs-2584 15 7 the the DET gs-2584 15 8 analysis analysis NOUN gs-2584 15 9 connected connect VERB gs-2584 15 10 tasks task NOUN gs-2584 15 11 solution solution NOUN gs-2584 15 12 happens happen VERB gs-2584 15 13 certain certain ADJ gs-2584 15 14 sequence sequence NOUN gs-2584 15 15 with with ADP gs-2584 15 16 protection protection NOUN gs-2584 15 17 , , PUNCT gs-2584 15 18 theirs theirs PRON gs-2584 15 19 build build VERB gs-2584 15 20 and and CCONJ gs-2584 15 21 structure structure NOUN gs-2584 15 22 considering consider VERB gs-2584 15 23 . . PUNCT gs-2584 16 1 submitted submit VERB gs-2584 16 2 article article NOUN gs-2584 16 3 basic basic ADJ gs-2584 16 4 the the DET gs-2584 16 5 goal goal NOUN gs-2584 16 6 is be AUX gs-2584 16 7 engineering engineer VERB gs-2584 16 8 for for ADP gs-2584 16 9 practice practice NOUN gs-2584 16 10 acceptable acceptable ADJ gs-2584 16 11 research research NOUN gs-2584 16 12 easy easy ADJ gs-2584 16 13 and and CCONJ gs-2584 16 14 visible visible ADJ gs-2584 16 15 method method NOUN gs-2584 16 16 offer offer NOUN gs-2584 16 17 . . PUNCT gs-2584 17 1 georgian georgian ADJ gs-2584 17 2 scientists/ქართველი scientists/ქართველი PROPN gs-2584 17 3 მეცნიერები მეცნიერები NOUN gs-2584 17 4 ტ. ტ. VERB gs-2584 17 5 6 6 NUM gs-2584 17 6 n n NUM gs-2584 17 7 1 1 NUM gs-2584 17 8 , , PUNCT gs-2584 17 9 2024 2024 NUM gs-2584 17 10 136 136 NUM gs-2584 17 11 currently currently ADV gs-2584 17 12 , , PUNCT gs-2584 17 13 the the DET gs-2584 17 14 capabilities capability NOUN gs-2584 17 15 of of ADP gs-2584 17 16 modern modern ADJ gs-2584 17 17 computer computer NOUN gs-2584 17 18 hardware hardware NOUN gs-2584 17 19 and and CCONJ gs-2584 17 20 programs program NOUN gs-2584 17 21 allow allow VERB gs-2584 17 22 us we PRON gs-2584 17 23 to to PART gs-2584 17 24 solve solve VERB gs-2584 17 25 technical technical ADJ gs-2584 17 26 tasks task NOUN gs-2584 17 27 of of ADP gs-2584 17 28 any any DET gs-2584 17 29 complexity complexity NOUN gs-2584 17 30 based base VERB gs-2584 17 31 on on ADP gs-2584 17 32 the the DET gs-2584 17 33 development development NOUN gs-2584 17 34 of of ADP gs-2584 17 35 new new ADJ gs-2584 17 36 mathematical mathematical ADJ gs-2584 17 37 models model NOUN gs-2584 17 38 and and CCONJ gs-2584 17 39 to to PART gs-2584 17 40 practically practically ADV gs-2584 17 41 use use VERB gs-2584 17 42 any any DET gs-2584 17 43 method method NOUN gs-2584 17 44 of of ADP gs-2584 17 45 mechanism mechanism NOUN gs-2584 17 46 research research NOUN gs-2584 17 47 with with ADP gs-2584 17 48 predetermined predetermined ADJ gs-2584 17 49 accuracy accuracy NOUN gs-2584 17 50 . . PUNCT gs-2584 18 1 main main ADJ gs-2584 18 2 part part NOUN gs-2584 18 3 as as SCONJ gs-2584 18 4 it it PRON gs-2584 18 5 is be AUX gs-2584 18 6 known know VERB gs-2584 18 7 , , PUNCT gs-2584 18 8 the the DET gs-2584 18 9 field field NOUN gs-2584 18 10 on on ADP gs-2584 18 11 the the DET gs-2584 18 12 surface surface NOUN gs-2584 18 13 located locate VERB gs-2584 18 14 on on ADP gs-2584 18 15 the the DET gs-2584 18 16 point point NOUN gs-2584 18 17 sphere sphere ADV gs-2584 18 18 belonging belong VERB gs-2584 18 19 to to ADP gs-2584 18 20 lots lot NOUN gs-2584 18 21 of of ADP gs-2584 18 22 circumference circumference NOUN gs-2584 18 23 it it PRON gs-2584 18 24 's be AUX gs-2584 18 25 awesome awesome ADJ gs-2584 18 26 possible possible ADJ gs-2584 18 27 _ _ PRON gs-2584 19 1 a a DET gs-2584 19 2 that that PRON gs-2584 19 3 's be AUX gs-2584 19 4 why why SCONJ gs-2584 19 5 sphere sphere ADV gs-2584 19 6 on on ADP gs-2584 19 7 the the DET gs-2584 19 8 surface surface NOUN gs-2584 19 9 located locate VERB gs-2584 19 10 n n PRON gs-2584 19 11 point point NOUN gs-2584 19 12 to to PART gs-2584 19 13 build build VERB gs-2584 19 14 first first ADV gs-2584 19 15 sphere sphere NOUN gs-2584 19 16 belonging belong VERB gs-2584 19 17 to to ADP gs-2584 19 18 any any DET gs-2584 19 19 n n DET gs-2584 19 20 circumference circumference NOUN gs-2584 19 21 let let VERB gs-2584 19 22 's us PRON gs-2584 19 23 build build VERB gs-2584 19 24 ( ( PUNCT gs-2584 19 25 fig fig NOUN gs-2584 19 26 . . PUNCT gs-2584 20 1 1a 1a NOUN gs-2584 20 2 ) ) PUNCT gs-2584 21 1 and and CCONJ gs-2584 21 2 then then ADV gs-2584 21 3 on on ADP gs-2584 21 4 it it PRON gs-2584 21 5 n n PRON gs-2584 21 6 point point VERB gs-2584 21 7 let let VERB gs-2584 21 8 's us PRON gs-2584 21 9 mark mark NOUN gs-2584 21 10 suppose suppose VERB gs-2584 21 11 there there PRON gs-2584 21 12 is be VERB gs-2584 21 13 a a DET gs-2584 21 14 center center NOUN gs-2584 21 15 o o NOUN gs-2584 21 16 , , PUNCT gs-2584 21 17 and and CCONJ gs-2584 21 18 two two NUM gs-2584 21 19 a a NUM gs-2584 21 20 located locate VERB gs-2584 21 21 on on ADP gs-2584 21 22 the the DET gs-2584 21 23 surface surface NOUN gs-2584 21 24 of of ADP gs-2584 21 25 a a DET gs-2584 21 26 sphere sphere NOUN gs-2584 21 27 of of ADP gs-2584 21 28 radius radius NOUN gs-2584 21 29 = = NOUN gs-2584 21 30 1 1 NUM gs-2584 21 31 and and CCONJ gs-2584 21 32 point point NOUN gs-2584 21 33 b. b. PROPN gs-2584 22 1 it it PRON gs-2584 22 2 is be AUX gs-2584 22 3 necessary necessary ADJ gs-2584 22 4 to to PART gs-2584 22 5 define define VERB gs-2584 22 6 such such DET gs-2584 22 7 a a DET gs-2584 22 8 point point NOUN gs-2584 22 9 c c NOUN gs-2584 22 10 located locate VERB gs-2584 22 11 on on ADP gs-2584 22 12 the the DET gs-2584 22 13 same same ADJ gs-2584 22 14 surface surface NOUN gs-2584 22 15 that that PRON gs-2584 22 16 from from ADP gs-2584 22 17 the the DET gs-2584 22 18 mentioned mention VERB gs-2584 22 19 points point NOUN gs-2584 22 20 the the DET gs-2584 22 21 pre pre NOUN gs-2584 22 22 - - VERB gs-2584 22 23 given give VERB gs-2584 22 24 < < X gs-2584 22 25 coa coa NOUN gs-2584 22 26 and and CCONJ gs-2584 22 27 < < X gs-2584 22 28 cob cob NOUN gs-2584 22 29 will will AUX gs-2584 22 30 be be AUX gs-2584 22 31 spherically spherically ADV gs-2584 22 32 spaced space VERB gs-2584 22 33 . . PUNCT gs-2584 23 1 it it PRON gs-2584 23 2 is be AUX gs-2584 23 3 clear clear ADJ gs-2584 23 4 that that SCONJ gs-2584 23 5 sphere sphere NOUN gs-2584 23 6 on on ADP gs-2584 23 7 the the DET gs-2584 23 8 surface surface NOUN gs-2584 23 9 such such DET gs-2584 23 10 two two NUM gs-2584 23 11 point point NOUN gs-2584 23 12 they they PRON gs-2584 23 13 will will AUX gs-2584 23 14 exist exist VERB gs-2584 23 15 sphere sphere NOUN gs-2584 23 16 of of ADP gs-2584 23 17 those those DET gs-2584 23 18 segments segment NOUN gs-2584 23 19 bases basis NOUN gs-2584 23 20 crossing crossing NOUN gs-2584 23 21 points point NOUN gs-2584 23 22 will will AUX gs-2584 23 23 be be AUX gs-2584 23 24 whose whose DET gs-2584 23 25 vertices vertex NOUN gs-2584 23 26 a a PRON gs-2584 23 27 and and CCONJ gs-2584 23 28 b b NOUN gs-2584 23 29 is be AUX gs-2584 23 30 straight straight ADJ gs-2584 23 31 , , PUNCT gs-2584 23 32 while while SCONJ gs-2584 23 33 viewers viewer NOUN gs-2584 23 34 accordingly accordingly ADV gs-2584 23 35 ac ac PROPN gs-2584 23 36 and and CCONJ gs-2584 23 37 bc bc PROPN gs-2584 23 38 sections section NOUN gs-2584 23 39 equal equal ADJ gs-2584 23 40 ( ( PUNCT gs-2584 23 41 fig fig NOUN gs-2584 23 42 . . PUNCT gs-2584 23 43 1b 1b NUM gs-2584 23 44 ) ) PUNCT gs-2584 23 45 . . PUNCT gs-2584 24 1 fig fig NOUN gs-2584 24 2 . . PUNCT gs-2584 25 1 1 1 NUM gs-2584 25 2 in in ADP gs-2584 25 3 general general ADJ gs-2584 25 4 , , PUNCT gs-2584 25 5 a a DET gs-2584 25 6 lever lever NOUN gs-2584 25 7 mechanism mechanism NOUN gs-2584 25 8 with with ADP gs-2584 25 9 one one NUM gs-2584 25 10 or or CCONJ gs-2584 25 11 more more ADJ gs-2584 25 12 degrees degree NOUN gs-2584 25 13 of of ADP gs-2584 25 14 movement movement NOUN gs-2584 25 15 is be AUX gs-2584 25 16 obtained obtain VERB gs-2584 25 17 by by ADP gs-2584 25 18 connecting connect VERB gs-2584 25 19 one one NUM gs-2584 25 20 or or CCONJ gs-2584 25 21 more more ADJ gs-2584 25 22 structural structural ADJ gs-2584 25 23 groups group NOUN gs-2584 25 24 to to ADP gs-2584 25 25 the the DET gs-2584 25 26 driving drive VERB gs-2584 25 27 ring ring NOUN gs-2584 25 28 or or CCONJ gs-2584 25 29 rings ring NOUN gs-2584 25 30 . . PUNCT gs-2584 26 1 the the DET gs-2584 26 2 sequence sequence NOUN gs-2584 26 3 of of ADP gs-2584 26 4 conducting conduct VERB gs-2584 26 5 kinematic kinematic ADJ gs-2584 26 6 research research NOUN gs-2584 26 7 and and CCONJ gs-2584 26 8 joining join VERB gs-2584 26 9 these these DET gs-2584 26 10 groups group NOUN gs-2584 26 11 coincides coincide VERB gs-2584 26 12 ( ( PUNCT gs-2584 26 13 identical identical ADJ gs-2584 26 14 ) ) PUNCT gs-2584 26 15 . . PUNCT gs-2584 27 1 taking take VERB gs-2584 27 2 them they PRON gs-2584 27 3 into into ADP gs-2584 27 4 account account NOUN gs-2584 27 5 , , PUNCT gs-2584 27 6 we we PRON gs-2584 27 7 can can AUX gs-2584 27 8 obtain obtain VERB gs-2584 27 9 one one NUM gs-2584 27 10 of of ADP gs-2584 27 11 the the DET gs-2584 27 12 well well ADV gs-2584 27 13 - - PUNCT gs-2584 27 14 known know VERB gs-2584 27 15 structural structural ADJ gs-2584 27 16 models model NOUN gs-2584 27 17 of of ADP gs-2584 27 18 kinematic kinematic ADJ gs-2584 27 19 research research NOUN gs-2584 27 20 of of ADP gs-2584 27 21 lever lever NOUN gs-2584 27 22 mechanisms mechanism NOUN gs-2584 27 23 using use VERB gs-2584 27 24 standard standard ADJ gs-2584 27 25 computer computer NOUN gs-2584 27 26 programs program NOUN gs-2584 27 27 . . PUNCT gs-2584 28 1 the the DET gs-2584 28 2 locations location NOUN gs-2584 28 3 of of ADP gs-2584 28 4 the the DET gs-2584 28 5 outer outer ADJ gs-2584 28 6 kinematic kinematic ADJ gs-2584 28 7 pairs pair NOUN gs-2584 28 8 will will AUX gs-2584 28 9 be be AUX gs-2584 28 10 known know VERB gs-2584 28 11 for for ADP gs-2584 28 12 the the DET gs-2584 28 13 simplest simple ADJ gs-2584 28 14 type type NOUN gs-2584 28 15 of of ADP gs-2584 28 16 two two NUM gs-2584 28 17 - - PUNCT gs-2584 28 18 rod rod NOUN gs-2584 28 19 groups group NOUN gs-2584 28 20 , , PUNCT gs-2584 28 21 and and CCONJ gs-2584 28 22 the the DET gs-2584 28 23 goal goal NOUN gs-2584 28 24 of of ADP gs-2584 28 25 the the DET gs-2584 28 26 study study NOUN gs-2584 28 27 is be AUX gs-2584 28 28 to to PART gs-2584 28 29 determine determine VERB gs-2584 28 30 the the DET gs-2584 28 31 location location NOUN gs-2584 28 32 of of ADP gs-2584 28 33 the the DET gs-2584 28 34 middle middle ADJ gs-2584 28 35 kinematic kinematic ADJ gs-2584 28 36 pair pair NOUN gs-2584 28 37 . . PUNCT gs-2584 29 1 in in ADP gs-2584 29 2 this this DET gs-2584 29 3 way way NOUN gs-2584 29 4 , , PUNCT gs-2584 29 5 the the DET gs-2584 29 6 location location NOUN gs-2584 29 7 of of ADP gs-2584 29 8 any any DET gs-2584 29 9 point point NOUN gs-2584 29 10 in in ADP gs-2584 29 11 the the DET gs-2584 29 12 mechanism mechanism NOUN gs-2584 29 13 can can AUX gs-2584 29 14 be be AUX gs-2584 29 15 found find VERB gs-2584 29 16 . . PUNCT gs-2584 30 1 this this DET gs-2584 30 2 approach approach NOUN gs-2584 30 3 to to PART gs-2584 30 4 kinematic kinematic VERB gs-2584 30 5 research research NOUN gs-2584 30 6 is be AUX gs-2584 30 7 valid valid ADJ gs-2584 30 8 for for ADP gs-2584 30 9 all all DET gs-2584 30 10 types type NOUN gs-2584 30 11 and and CCONJ gs-2584 30 12 modifications modification NOUN gs-2584 30 13 of of ADP gs-2584 30 14 lever lever NOUN gs-2584 30 15 mechanisms mechanism NOUN gs-2584 30 16 . . PUNCT gs-2584 31 1 so so ADV gs-2584 31 2 for for ADP gs-2584 31 3 example example NOUN gs-2584 31 4 : : PUNCT gs-2584 31 5 let let VERB gs-2584 31 6 's us PRON gs-2584 31 7 conduct conduct VERB gs-2584 31 8 a a DET gs-2584 31 9 kinematic kinematic ADJ gs-2584 31 10 analysis analysis NOUN gs-2584 31 11 of of ADP gs-2584 31 12 the the DET gs-2584 31 13 four four NUM gs-2584 31 14 - - PUNCT gs-2584 31 15 ring ring NOUN gs-2584 31 16 spherical spherical ADJ gs-2584 31 17 lever lever NOUN gs-2584 31 18 mechanism mechanism NOUN gs-2584 31 19 ( ( PUNCT gs-2584 31 20 fig fig NOUN gs-2584 31 21 . . NOUN gs-2584 32 1 2 2 NUM gs-2584 32 2 ) ) PUNCT gs-2584 32 3 using use VERB gs-2584 32 4 purely purely ADV gs-2584 32 5 graphic graphic ADJ gs-2584 32 6 and and CCONJ gs-2584 32 7 computer computer NOUN gs-2584 32 8 software software NOUN gs-2584 32 9 autocad autocad PROPN gs-2584 33 1 [ [ X gs-2584 33 2 1 1 NUM gs-2584 33 3 - - SYM gs-2584 33 4 3 3 NUM gs-2584 33 5 ] ] PUNCT gs-2584 33 6 . . PUNCT gs-2584 34 1 also also ADV gs-2584 34 2 : : PUNCT gs-2584 34 3 1 1 X gs-2584 34 4 . . X gs-2584 34 5 kinematic kinematic ADJ gs-2584 34 6 diagram diagram NOUN gs-2584 34 7 of of ADP gs-2584 34 8 spherical spherical ADJ gs-2584 34 9 four four NUM gs-2584 34 10 - - PUNCT gs-2584 34 11 ring ring NOUN gs-2584 34 12 lever lever NOUN gs-2584 34 13 mechanism mechanism NOUN gs-2584 34 14 f f PROPN gs-2584 34 15 1 1 NUM gs-2584 34 16 2 2 NUM gs-2584 34 17 . . PUNCT gs-2584 34 18 generalized generalize VERB gs-2584 34 19 coordinate coordinate NOUN gs-2584 34 20 variation variation NOUN gs-2584 34 21 function function NOUN gs-2584 34 22 with with ADP gs-2584 34 23 time time NOUN gs-2584 34 24 in in ADP gs-2584 34 25 the the DET gs-2584 34 26 relation relation NOUN gs-2584 34 27 f f NOUN gs-2584 34 28 1 1 NUM gs-2584 34 29 = = SYM gs-2584 34 30 f f SYM gs-2584 34 31 1 1 NUM gs-2584 34 32 ( ( PUNCT gs-2584 34 33 t t PROPN gs-2584 34 34 ) ) PUNCT gs-2584 34 35 . . PUNCT gs-2584 35 1 3 3 X gs-2584 35 2 . . X gs-2584 35 3 a a DET gs-2584 35 4 1 1 NUM gs-2584 35 5 , , PUNCT gs-2584 35 6 a a DET gs-2584 35 7 2 2 NUM gs-2584 35 8 , , PUNCT gs-2584 35 9 a a DET gs-2584 35 10 3 3 NUM gs-2584 35 11 , , PUNCT gs-2584 35 12 a a DET gs-2584 35 13 4 4 NUM gs-2584 35 14 , , PUNCT gs-2584 35 15 curved curved ADJ gs-2584 35 16 , , PUNCT gs-2584 35 17 curved curved ADJ gs-2584 35 18 , , PUNCT gs-2584 35 19 sided side VERB gs-2584 35 20 , , PUNCT gs-2584 35 21 vertical vertical VERB gs-2584 35 22 there there PRON gs-2584 35 23 are be VERB gs-2584 35 24 central central ADJ gs-2584 35 25 corners corner NOUN gs-2584 35 26 ( ( PUNCT gs-2584 35 27 fig fig NOUN gs-2584 35 28 . . PUNCT gs-2584 35 29 2 2 NUM gs-2584 35 30 ) ) PUNCT gs-2584 35 31 . . PUNCT gs-2584 36 1 determine determine VERB gs-2584 36 2 the the DET gs-2584 36 3 location location NOUN gs-2584 36 4 function function NOUN gs-2584 36 5 of of ADP gs-2584 36 6 the the DET gs-2584 36 7 lever lever NOUN gs-2584 36 8 mechanism mechanism NOUN gs-2584 36 9 abcd abcd PROPN gs-2584 36 10 f f PROPN gs-2584 36 11 3 3 NUM gs-2584 36 12 = = SYM gs-2584 36 13 f f SYM gs-2584 36 14 3 3 NUM gs-2584 36 15 ( ( PUNCT gs-2584 36 16 f f PROPN gs-2584 36 17 1 1 NUM gs-2584 36 18 ) ) PUNCT gs-2584 36 19 ( ( PUNCT gs-2584 36 20 fig fig NOUN gs-2584 36 21 . . PUNCT gs-2584 36 22 5 5 NUM gs-2584 36 23 ) ) PUNCT gs-2584 36 24 . . PUNCT gs-2584 37 1 a a DET gs-2584 37 2 semi semi ADJ gs-2584 37 3 - - ADJ gs-2584 37 4 constructive constructive ADJ gs-2584 37 5 diagram diagram NOUN gs-2584 37 6 of of ADP gs-2584 37 7 the the DET gs-2584 37 8 four four NUM gs-2584 37 9 - - PUNCT gs-2584 37 10 ring ring NOUN gs-2584 37 11 lever lever NOUN gs-2584 37 12 mechanism mechanism NOUN gs-2584 37 13 is be AUX gs-2584 37 14 given give VERB gs-2584 37 15 ( ( PUNCT gs-2584 37 16 fig fig NOUN gs-2584 37 17 . . PUNCT gs-2584 37 18 2 2 NUM gs-2584 37 19 ) ) PUNCT gs-2584 37 20 . . PUNCT gs-2584 38 1 a a DET gs-2584 38 2 b b NOUN gs-2584 38 3 g g NOUN gs-2584 38 4 georgian georgian ADJ gs-2584 38 5 scientists/ქართველი scientists/ქართველი NOUN gs-2584 38 6 მეცნიერები მეცნიერები NOUN gs-2584 38 7 ტ. ტ. VERB gs-2584 38 8 6 6 NUM gs-2584 38 9 n n NUM gs-2584 38 10 1 1 NUM gs-2584 38 11 , , PUNCT gs-2584 38 12 2024 2024 NUM gs-2584 38 13 137 137 NUM gs-2584 38 14 angles angle VERB gs-2584 38 15 a a DET gs-2584 38 16 1 1 NUM gs-2584 38 17 , , PUNCT gs-2584 38 18 a a DET gs-2584 38 19 2 2 NUM gs-2584 38 20 , , PUNCT gs-2584 38 21 a a DET gs-2584 38 22 3 3 NUM gs-2584 38 23 , , PUNCT gs-2584 38 24 and and CCONJ gs-2584 38 25 a a DET gs-2584 38 26 4 4 NUM gs-2584 38 27 , , PUNCT gs-2584 38 28 dimensions dimension NOUN gs-2584 38 29 of of ADP gs-2584 38 30 the the DET gs-2584 38 31 rings ring NOUN gs-2584 38 32 function function NOUN gs-2584 38 33 of of ADP gs-2584 38 34 variation variation NOUN gs-2584 38 35 of of ADP gs-2584 38 36 the the DET gs-2584 38 37 rotation rotation NOUN gs-2584 38 38 angle angle NOUN gs-2584 38 39 of of ADP gs-2584 38 40 the the DET gs-2584 38 41 input input NOUN gs-2584 38 42 ring ring NOUN gs-2584 38 43 ( ( PUNCT gs-2584 38 44 generalized generalized ADJ gs-2584 38 45 coordinate coordinate NOUN gs-2584 38 46 ) ) PUNCT gs-2584 38 47 with with ADP gs-2584 38 48 time time NOUN gs-2584 38 49 = = PROPN gs-2584 38 50 f(t f(t PROPN gs-2584 38 51 ) ) PUNCT gs-2584 38 52 it it PRON gs-2584 38 53 is be AUX gs-2584 38 54 necessary necessary ADJ gs-2584 38 55 to to PART gs-2584 38 56 determine determine VERB gs-2584 38 57 the the DET gs-2584 38 58 location location NOUN gs-2584 38 59 plan plan NOUN gs-2584 38 60 of of ADP gs-2584 38 61 the the DET gs-2584 38 62 mechanism mechanism NOUN gs-2584 38 63 . . PUNCT gs-2584 39 1 fig fig NOUN gs-2584 39 2 . . PUNCT gs-2584 40 1 2 2 NUM gs-2584 40 2 we we PRON gs-2584 40 3 conduct conduct VERB gs-2584 40 4 kinematic kinematic ADJ gs-2584 40 5 research research NOUN gs-2584 40 6 in in ADP gs-2584 40 7 the the DET gs-2584 40 8 following follow VERB gs-2584 40 9 order order NOUN gs-2584 40 10 : : PUNCT gs-2584 41 1 1 1 X gs-2584 41 2 . . X gs-2584 41 3 let let VERB gs-2584 41 4 's us PRON gs-2584 41 5 do do VERB gs-2584 41 6 it it PRON gs-2584 41 7 unit unit NOUN gs-2584 41 8 radius radius NOUN gs-2584 41 9 having have VERB gs-2584 41 10 sphere sphere NOUN gs-2584 41 11 spread spread VERB gs-2584 41 12 out out ADP gs-2584 41 13 . . PUNCT gs-2584 42 1 fig fig NOUN gs-2584 42 2 . . PUNCT gs-2584 43 1 3 3 NUM gs-2584 43 2 2 2 NUM gs-2584 43 3 . . PUNCT gs-2584 43 4 received receive VERB gs-2584 43 5 spread spread VERB gs-2584 43 6 out out ADP gs-2584 43 7 by by ADP gs-2584 43 8 means mean NOUN gs-2584 43 9 of of ADP gs-2584 43 10 let let VERB gs-2584 43 11 's us PRON gs-2584 43 12 create create VERB gs-2584 43 13 two two NUM gs-2584 43 14 hemispherical hemispherical ADJ gs-2584 43 15 surface surface NOUN gs-2584 43 16 . . NOUN gs-2584 43 17 3 3 X gs-2584 43 18 . . PUNCT gs-2584 44 1 let let VERB gs-2584 44 2 's us PRON gs-2584 44 3 cover cover VERB gs-2584 44 4 it it PRON gs-2584 44 5 with with ADP gs-2584 44 6 the the DET gs-2584 44 7 resulting result VERB gs-2584 44 8 surfaces surface NOUN gs-2584 44 9 , , PUNCT gs-2584 44 10 up up ADV gs-2584 44 11 mentioned mention VERB gs-2584 44 12 sphere sphere ADV gs-2584 44 13 . . PUNCT gs-2584 45 1 georgian georgian ADJ gs-2584 45 2 scientists/ქართველი scientists/ქართველი PROPN gs-2584 45 3 მეცნიერები მეცნიერები NOUN gs-2584 45 4 ტ. ტ. VERB gs-2584 45 5 6 6 NUM gs-2584 45 6 n n NUM gs-2584 45 7 1 1 NUM gs-2584 45 8 , , PUNCT gs-2584 45 9 2024 2024 NUM gs-2584 45 10 138 138 NUM gs-2584 45 11 4 4 NUM gs-2584 45 12 . . PUNCT gs-2584 46 1 mark mark PROPN gs-2584 46 2 two two NUM gs-2584 46 3 fixed fix VERB gs-2584 46 4 points point NOUN gs-2584 46 5 on on ADP gs-2584 46 6 the the DET gs-2584 46 7 surface surface NOUN gs-2584 46 8 of of ADP gs-2584 46 9 the the DET gs-2584 46 10 sphere sphere NOUN gs-2584 46 11 a a PRON gs-2584 46 12 and and CCONJ gs-2584 46 13 d d NOUN gs-2584 46 14 red red PROPN gs-2584 46 15 . . PUNCT gs-2584 47 1 5 5 NUM gs-2584 47 2 . . X gs-2584 47 3 from from ADP gs-2584 47 4 point point NOUN gs-2584 47 5 a a PRON gs-2584 47 6 as as ADP gs-2584 47 7 the the DET gs-2584 47 8 center center NOUN gs-2584 47 9 , , PUNCT gs-2584 47 10 draw draw VERB gs-2584 47 11 a a DET gs-2584 47 12 circle circle NOUN gs-2584 47 13 |ab| |ab| PROPN gs-2584 47 14 cord cord NOUN gs-2584 47 15 with with ADP gs-2584 47 16 equal equal ADJ gs-2584 47 17 radius radius NOUN gs-2584 47 18 . . PUNCT gs-2584 48 1 let let VERB gs-2584 48 2 's us PRON gs-2584 48 3 mark mark VERB gs-2584 48 4 one one NUM gs-2584 48 5 of of ADP gs-2584 48 6 the the DET gs-2584 48 7 points point NOUN gs-2584 48 8 b b NOUN gs-2584 48 9 on on ADP gs-2584 48 10 the the DET gs-2584 48 11 circle circle NOUN gs-2584 48 12 aa aa NOUN gs-2584 48 13 . . PROPN gs-2584 49 1 6 6 NUM gs-2584 49 2 . . X gs-2584 50 1 from from ADP gs-2584 50 2 one one NUM gs-2584 50 3 of of ADP gs-2584 50 4 the the DET gs-2584 50 5 marked mark VERB gs-2584 50 6 points point NOUN gs-2584 50 7 in in ADP gs-2584 50 8 our our PRON gs-2584 50 9 case case NOUN gs-2584 50 10 b b PROPN gs-2584 50 11 2 2 NUM gs-2584 50 12 as as ADP gs-2584 50 13 from from ADP gs-2584 50 14 the the DET gs-2584 50 15 center center NOUN gs-2584 50 16 |bc| |bc| PROPN gs-2584 50 17 draw draw VERB gs-2584 50 18 an an DET gs-2584 50 19 arc arc NOUN gs-2584 50 20 bb bb NOUN gs-2584 50 21 with with ADP gs-2584 50 22 a a DET gs-2584 50 23 radius radius NOUN gs-2584 50 24 equal equal ADJ gs-2584 50 25 to to ADP gs-2584 50 26 the the DET gs-2584 50 27 chord chord NOUN gs-2584 50 28 . . PUNCT gs-2584 51 1 7 7 X gs-2584 51 2 . . X gs-2584 51 3 similarly similarly ADV gs-2584 51 4 from from ADP gs-2584 51 5 point point NOUN gs-2584 51 6 d d X gs-2584 51 7 |dc| |dc| INTJ gs-2584 51 8 let let VERB gs-2584 51 9 's us PRON gs-2584 51 10 circle circle VERB gs-2584 51 11 it it PRON gs-2584 51 12 with with ADP gs-2584 51 13 a a DET gs-2584 51 14 radius radius NOUN gs-2584 51 15 equal equal ADJ gs-2584 51 16 to to ADP gs-2584 51 17 the the DET gs-2584 51 18 chord chord NOUN gs-2584 51 19 dd dd PROPN gs-2584 51 20 arc arc NOUN gs-2584 51 21 . . PUNCT gs-2584 52 1 8 8 X gs-2584 52 2 . . PUNCT gs-2584 53 1 the the DET gs-2584 53 2 point point NOUN gs-2584 53 3 of of ADP gs-2584 53 4 intersection intersection NOUN gs-2584 53 5 of of ADP gs-2584 53 6 arcs arcs PROPN gs-2584 53 7 b b NOUN gs-2584 53 8 and and CCONJ gs-2584 53 9 d d PROPN gs-2584 53 10 is be AUX gs-2584 53 11 the the DET gs-2584 53 12 point point NOUN gs-2584 53 13 c c NOUN gs-2584 53 14 to to PART gs-2584 53 15 be be AUX gs-2584 53 16 searched search VERB gs-2584 53 17 for for ADP gs-2584 53 18 . . PUNCT gs-2584 54 1 connect connect VERB gs-2584 54 2 points point NOUN gs-2584 54 3 a a DET gs-2584 54 4 , , PUNCT gs-2584 54 5 b b NOUN gs-2584 54 6 , , PUNCT gs-2584 54 7 c c PROPN gs-2584 54 8 and and CCONJ gs-2584 54 9 d d X gs-2584 54 10 with with ADP gs-2584 54 11 appropriate appropriate ADJ gs-2584 54 12 arcs arc NOUN gs-2584 54 13 . . PUNCT gs-2584 55 1 as as ADP gs-2584 55 2 a a DET gs-2584 55 3 result result NOUN gs-2584 55 4 , , PUNCT gs-2584 55 5 we we PRON gs-2584 55 6 got get VERB gs-2584 55 7 a a DET gs-2584 55 8 plan plan NOUN gs-2584 55 9 of of ADP gs-2584 55 10 the the DET gs-2584 55 11 locations location NOUN gs-2584 55 12 of of ADP gs-2584 55 13 the the DET gs-2584 55 14 mechanism mechanism NOUN gs-2584 55 15 in in ADP gs-2584 55 16 the the DET gs-2584 55 17 second second ADJ gs-2584 55 18 state state NOUN gs-2584 55 19 . . PUNCT gs-2584 56 1 similarly similarly ADV gs-2584 56 2 , , PUNCT gs-2584 56 3 it it PRON gs-2584 56 4 is be AUX gs-2584 56 5 possible possible ADJ gs-2584 56 6 to to PART gs-2584 56 7 determine determine VERB gs-2584 56 8 the the DET gs-2584 56 9 spatial spatial ADJ gs-2584 56 10 ( ( PUNCT gs-2584 56 11 spherical spherical ADJ gs-2584 56 12 ) ) PUNCT gs-2584 56 13 gear gear NOUN gs-2584 56 14 points point NOUN gs-2584 56 15 for for ADP gs-2584 56 16 different different ADJ gs-2584 56 17 locations location NOUN gs-2584 56 18 of of ADP gs-2584 56 19 the the DET gs-2584 56 20 drive drive NOUN gs-2584 56 21 ring ring NOUN gs-2584 56 22 . . PUNCT gs-2584 57 1 the the DET gs-2584 57 2 fourth fourth ADJ gs-2584 57 3 figure figure NOUN gs-2584 57 4 shows show VERB gs-2584 57 5 spherical spherical ADJ gs-2584 57 6 shape shape NOUN gs-2584 57 7 four four NUM gs-2584 57 8 rings ring NOUN gs-2584 57 9 leverage leverage NOUN gs-2584 57 10 mechanism mechanism NOUN gs-2584 57 11 private private ADJ gs-2584 57 12 the the DET gs-2584 57 13 case case NOUN gs-2584 57 14 hook hook VERB gs-2584 57 15 universal universal ADJ gs-2584 57 16 joint joint ADJ gs-2584 57 17 so so ADV gs-2584 57 18 cardan cardan ADJ gs-2584 57 19 mechanism mechanism NOUN gs-2584 57 20 . . PUNCT gs-2584 58 1 in in ADP gs-2584 58 2 which which PRON gs-2584 58 3 < < X gs-2584 58 4 aob=