diff --git a/mr/ubB/mrB.pdf b/mr/ubB/mrB.pdf
index 161890d..58c697f 100644
--- a/mr/ubB/mrB.pdf
+++ b/mr/ubB/mrB.pdf
Binary files differ
diff --git a/mr/ubB/mrB.tex b/mr/ubB/mrB.tex
index 997130f..5d77ae9 100644
--- a/mr/ubB/mrB.tex
+++ b/mr/ubB/mrB.tex
@@ -91,15 +91,7 @@
         \end{enumerate}
     \Aufgabe{Nonholonomic Constraints}{4}
         \begin{enumerate}[(a)]
-            \item $\vec{q}=\begin{pmatrix}
-                x\\y\\\theta
-            \end{pmatrix}, f(t,\vec{q},\dot{\vec{q}})=\begin{pmatrix}
-                0&1&0
-            \end{pmatrix}\begin{pmatrix}
-                \cos\theta&-\sin\theta&0\\
-                \sin\theta&\cos\theta&0\\
-                0&0&1
-            \end{pmatrix}\left(q(t)-q(t+1)\right)\\=\begin{pmatrix}
+            \item $f(t,\vec{q},\dot{\vec{q}})=\begin{pmatrix}
                 0&1&0
             \end{pmatrix}\begin{pmatrix}
                 \cos\theta&-\sin\theta&0\\
@@ -108,7 +100,8 @@
             \end{pmatrix}\dot\vec q\\
             =\begin{pmatrix}
                 \sin\theta & \cos\theta & 0
-            \end{pmatrix}\dot\vec q=0$
+            \end{pmatrix}\dot\vec q \\
+            = \dot x \sin\theta + \dot y \cos\theta\\=0$
             \item nonholonomic, because the derivative of q is used\\
         \end{enumerate}
     \Aufgabe{Reeds-Shepp-Curves}{8}