diff --git a/mr/Ub2/mr2.pdf b/mr/Ub2/mr2.pdf
index f236466..d314208 100644
--- a/mr/Ub2/mr2.pdf
+++ b/mr/Ub2/mr2.pdf
Binary files differ
diff --git a/mr/Ub2/mr2.tex b/mr/Ub2/mr2.tex
index a8837f9..a4e86dc 100644
--- a/mr/Ub2/mr2.tex
+++ b/mr/Ub2/mr2.tex
@@ -109,6 +109,26 @@
                 $\Rightarrow \frac{2v+l\omega}{2}+v_l =2v \Leftrightarrow v_l=2v-\frac{2v+l\omega}{2}=\frac{2v-l\omega}{2}$\qed
         \end{enumerate}
      \Aufgabe{}{8}
+        \begin{enumerate}[(a)]
+            \item $s_l=s_r=s,\ \theta_{t-1}=\theta_t=\theta$\\
+                $\mathbf{x}_t=\mathbf{x}_{t-1}+\mathbf{Rot}(z,\theta)\begin{pmatrix}
+                    s\\0\\0
+                \end{pmatrix}=\mathbf{x}_{t-1}+\begin{pmatrix}
+                    \cos\theta & -\sin\theta & 0\\
+                    \sin\theta & \cos\theta & 0\\
+                    0&0&1
+                \end{pmatrix}\begin{pmatrix}
+                    s\\0\\0
+                \end{pmatrix}=\mathbf{x}_{t-1}+\begin{pmatrix}
+                    s\cos\theta\\s\sin\theta\\0
+                \end{pmatrix}$
+            \item $r\left(\begin{pmatrix}
+                2l\\l
+            \end{pmatrix}\right)=-\frac{3}{2} l$\\
+            $\frac{\partial r}{\partial s_r}=\frac{(s_l+s_r)'(s_r-s_l)-(s_l+s_r)(s_r-s_l)'}{(s_r-s_l)^2}\cdot\frac{l}{2}=\frac{-2s_l}{(s_r-s_l)^2}\cdot\frac{l}{2}\overset{s=\overline{s}}{=}\frac{-4}{l}\cdot\frac{l}{2}=-2$\\
+            $\frac{\partial r}{\partial s_l}=\frac{(s_l+s_r)'(s_r-s_l)-(s_l+s_r)(s_r-s_l)'}{(s_r-s_l)^2}\cdot\frac{l}{2}=\frac{2s_r}{(s_r-s_l)^2}\cdot\frac{l}{2}\overset{s=\overline{s}}{=}\frac{2}{l}\cdot\frac{l}{2}=1$\\
+            $\Rightarrow r(\mathbf{s})\approx -\frac{3}{2}-2\left(s_l-2l\right)+\left(s_r-l\right)$
+        \end{enumerate}
      \Aufgabe{}{6}
 
 \end{document}