$x_1$

$y_1$

$x_2$

$y_2$

CW-CW

$-A+\sin \alpha +\cos \gamma$

$-\cos \alpha +\sin \gamma$

$\cos \theta +\cos \gamma$

$\sin \theta +\sin \gamma$

$\gamma =\arctan \frac{\sin \theta +\cos \alpha }{\cos \theta +A-\sin \alpha }+\frac{\pi }{2}$

CW-CCW

$-A+\sin \alpha +\cos \gamma$

$-\cos \alpha +\sin \gamma$

$\cos \theta +\cos \gamma$

$\sin \theta +\sin \gamma$

$\gamma =\arctan \frac{\sin \theta +\cos \alpha }{\cos \theta +A-\sin \alpha }+\arccos \frac{2}{\sqrt{{\left(\sin \theta +\cos \alpha \right)}^2+{\left(\cos \theta +A-\sin \alpha \right)}^2}}$

CCW-CW

$-A-\sin \alpha +\cos \gamma$

$\cos \alpha +\sin \gamma$

$\cos \theta -\cos \gamma$

$\sin \theta +\sin \gamma$

$\gamma =\arctan \frac{\sin \theta -\cos \alpha }{\cos \theta +A+\sin \alpha }-\arccos \frac{2}{\sqrt{{\left(\sin \theta -\cos \alpha \right)}^2+{\left(\cos \theta +A+\sin \alpha \right)}^2}}$

CW-CCW

$-A-\sin \alpha +\cos \gamma$

$\cos \alpha +\sin \gamma$

$\cos \theta -\cos \gamma$

$\sin \theta -\sin \gamma$

$\gamma =\arctan \frac{\sin \theta -\cos \alpha }{\cos \theta +A+\sin \alpha }-\frac{\pi }{2}$