Equation used:

${\displaystyle \omega _{2}={\frac {\omega _{1}\cos \beta }{1-\sin ^{2}\beta \sin ^{2}\phi _{1}}}}$

Where:
ω₂ is the speed of the output shaft
ω₁ is the speed of the input shaft, set to 1
β is the angle between the shafts
φ₁ is the rotation angle of the input shaft

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