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esRzyI - 1
Calculation: esRzyI - 1
sin(
α
)
=
1
/
n
sin(
α
)
=
1
/
n
$$sin(\alpha)$$
=
$$\frac{1}{n}$$
α
=
arcsin(
1
/
n
)
$$\alpha$$
=
$$arcsin(\frac{1}{n})$$