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Finding zeroes of the function Apply[ArcTan, o1[t] - o[t]] - Apply[ArcTan, o2[t] - o[t]] does not work well, because ArcTan changes discontinuously from -Pi to Pi, creating numerous spurious roots. For instance, with {a1 = 2, a2 = 13/10, a3 = 16/10, b1 = 3, b2 = 21/10, b3 = 26/10}; Plot[Apply[ArcTan, o1[t] - o[t]] - Apply[ArcTan, o2[t] - o[t]], {t, 0, ...



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