diff --git a/mr/Ub4/mr4.pdf b/mr/Ub4/mr4.pdf
index 9f7ab82..e718668 100644
--- a/mr/Ub4/mr4.pdf
+++ b/mr/Ub4/mr4.pdf
Binary files differ
diff --git a/mr/Ub4/mr4.tex b/mr/Ub4/mr4.tex
index 378914e..18db691 100644
--- a/mr/Ub4/mr4.tex
+++ b/mr/Ub4/mr4.tex
@@ -85,12 +85,9 @@
 	\begin{enumerate}[(a)]
 	\item $v_w = \cos\left(\theta_w-\phi\right)\cdot v_R  = v_R \cdot \underbrace{\left(\cos\left(\theta_w\right)\cdot \cos\left(\phi\right) + \sin\left(\theta_w\right) \cdot \sin\left(\phi\right)\right)}_{T}$
 	\item \begin{align*}
-	v_1&= v_R \cdot \left(\sin\left(\frac{\pi}{2}+\frac{\pi}{6}\right)\cdot \cos\left(\phi\right) + \cos\left(\frac{\pi}{2}+\frac{\pi}{6}\right) \cdot \sin\left(\phi\right)\right)-l ^R\omega\\
-	&=v_R \cdot \left(\frac{\sqrt{3}}{2} \cos\left(\phi\right)- \frac{1}{2} \sin\left(\phi\right)\right)-l ^R\omega\\
-	v_2&= v_R \cdot \left(\sin\left(\frac{\pi}{2}-\frac{\pi}{2}\right)\cdot \cos\left(\phi\right) + \cos\left(\frac{\pi}{2}+\frac{\pi}{2}\right) \cdot \sin\left(\phi\right)\right)-l ^R\omega\\
-	&=v_R \cdot \sin\left(\phi\right) -l^R\omega\\
-	v_3&= v_R \cdot \left(\sin\left(\frac{\pi}{2}+\frac{5\pi}{6}\right)\cdot \cos\left(\phi\right) + \cos\left(\frac{\pi}{2}+\frac{5\pi}{6}\right) \cdot \sin\left(\phi\right)\right)-l ^R\omega\\
-	&=v_R \cdot \left(-\frac{\sqrt{3}}{2} \cos\left(\phi\right)- \frac{1}{2} \sin\left(\phi\right)\right)-l ^R\omega\\
+	v_1&= v_R \cdot \left(\frac{\sqrt{3}}{2} \cos\left(\phi\right)- \frac{1}{2} \sin\left(\phi\right)\right)-l ^R\omega\\
+	v_2&= v_R \cdot \sin\left(\phi\right) -l^R\omega\\
+	v_3&= v_R \cdot \left(-\frac{\sqrt{3}}{2} \cos\left(\phi\right)- \frac{1}{2} \sin\left(\phi\right)\right)-l ^R\omega\\
 	^Rv_x &= v_R * \cos\left(\phi\right)\\
 	^Rv_y &= v_R * \sin\left(\phi\right)\\
 	\\ \Rightarrow