IF the plane of symmetry of the wheel is the same in both its landing and retracted positions, retraction is achieved by simple rotation about an axis which is perpendicular to the plane of the wheel.
Bialkowski, L.S. (1953), "The Basic Problem of Undercarriage Geometry: The Definition and Checking of the Pivot Axis about which the Undercarriage Rotates", Aircraft Engineering and Aerospace Technology, Vol. 25 No. 8, pp. 236-238. https://doi.org/10.1108/eb032324
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