```python
 # https://colab.research.google.com/github/kassbohm/wb-snippets/blob/master/ipynb/HTM_03/Uebungen/1.1.ipynb

from sympy import *

a1, a2 = var("a1, a2")

w = var("omega")
al = var("alpha")

r1, r2 = var("rx, ry")

a = Matrix([a1,a2,0])
r = Matrix([rx,ry,0])

w = Matrix([0,0,w])
al = Matrix([0,0,al])

z = Matrix([0,0,0])

eq = Eq(z, a + al.cross(r) + w.cross(w.cross(r)))
# pprint(eq)

sol = solve(eq, (r1, r2))
pprint(sol)

# ⎧        2                        2⎫
# ⎪    a₁⋅ω  - a₂⋅α      a₁⋅α + a₂⋅ω ⎪
# ⎨rx: ────────────, ry: ────────────⎬
# ⎪       2    4            2    4   ⎪
# ⎩      α  + ω            α  + ω    ⎭

```

23d193f7c29ce83f29e81f763f7ef94a4f3ca5fd
ipynb
Jupyter Notebook
ipynb/HTM_03/Uebungen/1.1.ipynb
kassbohm/wb-snippets
f1ac5194e9f60a9260d096ba5ed1ce40b844a3fe
MIT
ipynb/HTM_03/Uebungen/1.1.ipynb
kassbohm/wb-snippets
f1ac5194e9f60a9260d096ba5ed1ce40b844a3fe
MIT
ipynb/HTM_03/Uebungen/1.1.ipynb
kassbohm/wb-snippets
f1ac5194e9f60a9260d096ba5ed1ce40b844a3fe
MIT
Qwen/Qwen-72B
1. YES
2. YES