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Sep 5, 2016 at 4:14 vote accept alvarezpaiva
Sep 5, 2016 at 4:14 comment added alvarezpaiva The map takes the point $x$ in the sphere to the normal unit vector to the contact element $i(x)$, right? Yeap, that works! Thanks.
Aug 31, 2016 at 10:27 history answered Nikolaki CC BY-SA 3.0