cos(K)(Mcos(J)+sin(J)(Gcos(I)-Hsin(I)))-sin(K)(Gcos(I)-Hsin(I))->E
sin(K)(Mcos(J)+sin(J)(Gcos(I)-Hsin(I)))+cos(K)(Gcos(I)_Hsin(I))->Q
-Msin(J)+cos(J)(Gsin(I)+Hcos(I))->W