diff --git a/mr/ubC/mrC.pdf b/mr/ubC/mrC.pdf
index 754052d..81b63cb 100644
--- a/mr/ubC/mrC.pdf
+++ b/mr/ubC/mrC.pdf
Binary files differ
diff --git a/mr/ubC/mrC.tex b/mr/ubC/mrC.tex
index c1170d0..dc2a82b 100644
--- a/mr/ubC/mrC.tex
+++ b/mr/ubC/mrC.tex
@@ -134,34 +134,32 @@
                 0\\0\\-\omega_1^2+\omega_2^2-\omega_3^2+\omega_4^2-\omega_5^2+\omega_6^2
             \end{pmatrix}$
             \item  $l\begin{pmatrix}
-            0 \\ -k_T\omega_1^2\\ 0  
-            \end{pmatrix} \\
-            \tau_{T2} = l\begin{pmatrix}
-            \frac{\sqrt{3}}{2}k_T\omega_2^2 \\ -\frac{1}{2}k_T\omega_2^2\\ 0  
-            \end{pmatrix} \\
-            \tau_{T3} = l\begin{pmatrix}
-            \frac{\sqrt{3}}{2}k_T\omega_3^2 \\ \frac{1}{2}k_T\omega_3^2\\ 0 
-            \end{pmatrix} \\
+            0 \\ -k_T\omega_1^2\\ 0
+            \end{pmatrix},\ \tau_{T2} = l\begin{pmatrix}
+            \frac{\sqrt{3}}{2}k_T\omega_2^2 \\ -\frac{1}{2}k_T\omega_2^2\\ 0
+            \end{pmatrix},\ \tau_{T3} = l\begin{pmatrix}
+            \frac{\sqrt{3}}{2}k_T\omega_3^2 \\ \frac{1}{2}k_T\omega_3^2\\ 0
+            \end{pmatrix}, \\
             \tau_{T4} = l\begin{pmatrix}
-             0\\ k_T\omega_4^2\\ 0  
-            \end{pmatrix} \\
+             0\\ k_T\omega_4^2\\ 0
+            \end{pmatrix}, \
             \tau_{T5} = l\begin{pmatrix}
-            -\frac{\sqrt{3}}{2}k_T\omega_5^2 \\ \frac{1}{2}k_T\omega_5^2\\ 0  
-            \end{pmatrix} \\
+            -\frac{\sqrt{3}}{2}k_T\omega_5^2 \\ \frac{1}{2}k_T\omega_5^2\\ 0
+            \end{pmatrix}, \
             \tau_{T6} = l\begin{pmatrix}
-            -\frac{\sqrt{3}}{2}k_T\omega_6^2 \\ -\frac{1}{2}k_T\omega_6^2\\ 0 
+            -\frac{\sqrt{3}}{2}k_T\omega_6^2 \\ -\frac{1}{2}k_T\omega_6^2\\ 0
             \end{pmatrix} \\
             \tau= \begin{pmatrix}
-            l \frac{\sqrt{3}}{2}k_T(\omega_2^2\cdot \omega_3^2\cdot-\omega_5^2\cdot -\omega_6^2)\\ 
-            l\frac{1}{2}k_T(-2\omega_1^2-\omega_2^2\cdot \omega_3^2 \cdot 2\omega_4^2 \cdot \omega_5 \cdot-\omega_6)\\ 
+            l \frac{\sqrt{3}}{2}k_T(\omega_2^2+ \omega_3^2-\omega_5^2 -\omega_6^2)\\
+            l\frac{1}{2}k_T(-2\omega_1^2-\omega_2^2+\omega_3^2+2\omega_4^2 +\omega_5^2 -\omega_6^2)\\
             k_Q (-\omega_1^2+\omega_2^2-\omega_3^2+\omega_4^2-\omega_5^2+\omega_6^2)
             \end{pmatrix}
             $
             \item $
 	           \Gamma =  \begin{pmatrix}
 	           k_T&k_T&k_T&k_T&k_T&k_T \\
-		       0 & l \frac{\sqrt{3}}{2}k_T & l \frac{\sqrt{3}}{2}k_T & 0& -l\frac{\sqrt{3}}{2}k_T& -l\frac{\sqrt{3}}{2}k_T \\
-		        -lk_T &l\frac{1}{2}k_T &-l\frac{1}{2}k_T & lk_T&l\frac{1}{2}k_T &-l\frac{1}{2}k_T  \\
+		       0 & \frac{\sqrt{3}}{2}lk_T & \frac{\sqrt{3}}{2}lk_T & 0& -\frac{\sqrt{3}}{2}lk_T& -\frac{\sqrt{3}}{2}lk_T \\
+		        -lk_T &\frac{1}{2}lk_T &-\frac{1}{2}lk_T & lk_T&\frac{1}{2}lk_T &-\frac{1}{2}lk_T  \\
 		       -k_Q &k_Q & -k_Q &k_Q &-k_Q&k_Q \\
 	           \end{pmatrix}
             $
@@ -177,10 +175,37 @@
         	0\\0\\ 9.87 \frac{m}{s^2}
         	\end{pmatrix} =\begin{pmatrix}
         	0\\0\\ 5.836 \frac{m}{s^2}
-        	\end{pmatrix} $ 
-        	
-        	\item b TODO
-        	\item c TODO
+        	\end{pmatrix} $
+            \item $\tau=\begin{pmatrix}
+                lk_T\omega_2^2-lk_T\omega_4^2\\
+                -lk_T\omega_1^2+lk_T\omega_3^2\\
+                k_Q(-\omega_1^2+\omega_2^2-\omega_3^2+\omega_4^2)
+            \end{pmatrix}$, $\alpha=I^{-1}\tau\approx \begin{pmatrix}
+                142.857&0&0\\
+                0&142.857&0\\
+                0&0&83.333
+            \end{pmatrix}\tau$\\
+            maximal acceleration around x and y in both directions is the same:\\
+            $\alpha_{max}=\begin{pmatrix}
+                142.857(lk_T\omega_2^2-lk_T\omega_4^2)\\
+                142.857(-lk_T\omega_1^2+lk_T\omega_3^2)\\
+                83.333\cdot k_Q(-\omega_1^2+\omega_2^2-\omega_3^2+\omega_4^2)
+            \end{pmatrix}$\\
+            $\alpha_{x,max}\approx 142.857\frac{1}{kgm^2}(lk_T\omega_2^2)\approx 558.785l\frac{1}{s^2}$\\
+            $\alpha_{z,max}\approx 83.333\frac{1}{kgm^2}\cdot k_Q(\omega_2^2+\omega_4^2)\approx 15.917\frac{1}{s^2}$
+        	\item \begin{itemize}
+                \item $\alpha_{x,max}\approx 558.785l\frac{1}{s^2}$\\
+            where:
+                $\omega_2=838\frac{rad}{s},\omega_4=0\frac{rad}{s}, \omega_1=\omega_3=\sqrt{\frac{\frac{9.81N}{k_T}-\omega_2^2}{2}}\approx 727.660\frac{rad}{s} < 838\frac{rad}{s}$\checkmark\\
+                accordingly for $-x,y,-y$
+                \item $\text{max: }\alpha_{z}=k_Q(-\omega_1^2+\omega_2^2-\omega_3^2+\omega_4^2)$ s.t.\\
+                    $\omega_2=\omega_4,\ \omega_1=\omega_3,\ \omega_1^2+\omega_2^2+\omega_3^2+\omega_4^2=\frac{9.81N}{k_T}$\\
+                    $\Rightarrow \omega_2=\omega_4=838\frac{rad}{s}\\
+                    \Rightarrow \omega_1^2+\omega_3^2=\frac{9.81N}{k_T}-2\cdot \left(838\frac{rad}{s}\right)^2\\
+                    \Rightarrow \omega_1=\omega_3=\sqrt{\frac{9.81N}{2k_T}-838^2\frac{rad^2}{s^2}}\approx 422.334\frac{rad}{s}$\vspace{5mm}\\
+                    $\Rightarrow\alpha_{z,max}=83.333\frac{1}{kgm^2}\cdot k_Q(-422.334^2+838^2-422.334^2+838^2)\frac{rad^2}{s^2}\approx 11.875\frac{1}{s^2}$
+            \end{itemize}
+
         \end{enumerate}
 \end{document}