diff --git a/mr/ubC/A2.m b/mr/ubC/A2.m
new file mode 100644
index 0000000..50881d6
--- /dev/null
+++ b/mr/ubC/A2.m
@@ -0,0 +1,25 @@
+
+
+% rotz= @(x,a) [cos(a) -sin(a); sin(a) cos(a)]*x
+% 
+% 
+% for i = 1:6
+%   i
+%   rotz([1;0],i*2*pi/6)  
+% end    
+
+%3
+ m=1;
+ I= [ 0.007 0 0 
+     0 0.007 0
+    0 0 0.012];
+kt= 5.57*10^(-6);
+kq= 1.36*10^(-7);
+wim = 838;
+
+Tmax = wim^2*kt;
+g= 9.81;
+
+amax = 4*Tmax
+
+amax- g
diff --git a/mr/ubC/mrC.pdf b/mr/ubC/mrC.pdf
index 737c8cd..754052d 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 5e49930..c1170d0 100644
--- a/mr/ubC/mrC.tex
+++ b/mr/ubC/mrC.tex
@@ -131,8 +131,56 @@
             \end{pmatrix}l$
             \item $T_\Sigma=k_T\sum_{i=1}^6 \omega_i^2$
             \item $\tau_Q=k_Q \begin{pmatrix}
-                0\\0\\-\omega_1+\omega_2-\omega_3+\omega_4-\omega_5+\omega_6
+                0\\0\\-\omega_1^2+\omega_2^2-\omega_3^2+\omega_4^2-\omega_5^2+\omega_6^2
             \end{pmatrix}$
+            \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} \\
+            \tau_{T4} = l\begin{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} \\
+            \tau_{T6} = l\begin{pmatrix}
+            -\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)\\ 
+            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  \\
+		       -k_Q &k_Q & -k_Q &k_Q &-k_Q&k_Q \\
+	           \end{pmatrix}
+            $
+        \end{enumerate}
+        \Aufgabe{Newton-Euler Equations}{6}
+        \begin{enumerate}
+        	\item $T_{max} = k_T*w_{i,max}^2 =3.9115 N$
+        	\item $a_{max} = \begin{pmatrix}
+        	0 \\ 0\\ \frac{T_{\Sigma,max}}{m}
+        	\end{pmatrix}- ^BR_w ^wg =\begin{pmatrix}
+        	0\\0\\ \frac{15.646N}{1kg}
+        	\end{pmatrix}-\begin{pmatrix}
+        	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{enumerate}
 \end{document}