Which of the following equations accurately calculates the forward kinematics of a 2D joint, given its length and angle?
[x2, y2] = [x1, y1] + [l1 * cos(theta1), l1 * sin(theta1)]
[x2, y2] = [x1, y1] - [l1 * cos(theta1), l1 * sin(theta1)]
Baroque art features strong contrasts, while Rococo art prefers more subtle transitions
Baroque art is generally larger in scale than Rococo art

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