author: georgina m dopico black

... 4-bi a1 + a 4 _ a 2 – a 3 , v 'U3 F , U4 = vo o –– o ––va-, * = −3 It is here where the Kustaanheimo-Stiefel ... diagram shows it: —1 - S3 T'S3 – {0} g M-1 ((R* – {0}) × R*), R*x (R* – {0}) where the map G is defined by the equation: (4.7) g ...