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Resultant speed $\"\"$

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$\"\"$

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$\"\"$

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$\"\"$

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$\"\"$

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Kaya resulting speed is $\"\"$ .

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If the $\"\"$ is the direction angle, $\"\"$

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$\"\"$

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$\"\"$

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$\"\"$ .

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The true direction of kaya(in terms of bearings)

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$\"\"$ .

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about $\"\"$ at a bearing of a $\"\"$ .