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In this sample, a vertical axes is linked to multiple axes at 90 degrees to the vertical axis. The horizontal rotations are a function of the vertical rotation. The modeling process is straightforward. To clarify the geometric structure, each successive coordinate system is displaced by a small amount. Reducing this amount to zero brings all objects to a central point.

The Z-axis of the differentialCS coordinate system defines the vertical axis.      ... more on Design Patterns CA

Tran_Differential Manipulations

Tran_Differential Manipulations