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 <office:master-styles>
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 </office:master-styles>
 <office:body>
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         <mi>,</mi>
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    </draw:frame>= curve and surface parameters</text:p>
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    </draw:frame>= user defined parameter</text:p>
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    </draw:frame>= Lagrange multiplier for nonholonomic constraints</text:p>
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    </draw:frame>= Lagrange multiplier for holonomic constraints</text:p>
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   <text:p text:style-name="Standard">Secondary states</text:p>
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      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">xyz</mi>
        <annotation encoding="StarMath 5.0">xyz</annotation>
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     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAQgDAADj
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      </office:binary-data>
     </draw:image>
    </draw:frame>.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object72" text:anchor-type="as-char" svg:width="0.3161in" svg:height="0.2098in" draw:z-index="33"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mi>l</mi>
         <mi mathvariant="italic">IeJe</mi>
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        <annotation encoding="StarMath 5.0">l_IeJe</annotation>
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     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAASUDAAAf
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        <mi mathvariant="italic">Ie</mi>
        <annotation encoding="StarMath 5.0">Ie</annotation>
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     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAATICAADj
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     </draw:image>
    </draw:frame>to<draw:frame draw:style-name="fr1" draw:name="Object54" text:anchor-type="as-char" svg:width="0.2366in" svg:height="0.1898in" draw:z-index="35"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Je</mi>
        <annotation encoding="StarMath 5.0">Je</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAWICAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAYQIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBKZXUBAAAAAP//AgBKAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
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     </draw:image>
    </draw:frame>.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object53" text:anchor-type="as-char" svg:width="0.3189in" svg:height="0.2193in" draw:z-index="36"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mover accent="true">
          <mi>l</mi>
          <mo stretchy="false">˙</mo>
         </mover>
         <mi mathvariant="italic">IeJe</mi>
        </msub>
        <annotation encoding="StarMath 5.0">{dot l}_IeJe</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAASYDAAAw
       AgAAHAAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAJQMAAC8CAACVAAEABAAAAAIAAACW
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     </draw:image>
    </draw:frame>time derivative of<draw:frame draw:style-name="fr1" draw:name="Object56" text:anchor-type="as-char" svg:width="0.3161in" svg:height="0.2098in" draw:z-index="37"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mi>l</mi>
         <mi mathvariant="italic">IeJe</mi>
        </msub>
        <annotation encoding="StarMath 5.0">l_IeJe</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAASUDAAAf
       AgAAFQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAJAMAAB4CAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAAByAQAAAQBsdwAAAAAA//8BAGwAjAABAAAAAACLAAEA
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       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
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     </draw:image>
    </draw:frame>.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object57" text:anchor-type="as-char" svg:width="0.3756in" svg:height="0.2098in" draw:z-index="38"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mstyle mathvariant="bold">
          <mi mathvariant="normal">n</mi>
         </mstyle>
         <mi mathvariant="italic">IeIm</mi>
        </msub>
        <annotation encoding="StarMath 5.0">{bold nitalic n}_IeIm</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAa4DAAAn
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       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
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       AAEABAAAAAAAAAByAAIAFwAAAGoAAACNAQAAAQBu7QAAAAAA//8BAG4AjAABAAAAAACLAAEA
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     </draw:image>
    </draw:frame>normal on surface that holds end frame<draw:frame draw:style-name="fr1" draw:name="Object59" text:anchor-type="as-char" svg:width="0.2181in" svg:height="0.1898in" draw:z-index="39"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Ie</mi>
        <annotation encoding="StarMath 5.0">Ie</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAATICAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAMQIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBJZUYBAAAAAP//AgBJAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
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   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object58" text:anchor-type="as-char" svg:width="0.3417in" svg:height="0.2098in" draw:z-index="40"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mstyle mathvariant="bold">
          <mi mathvariant="normal">n</mi>
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         <mi mathvariant="italic">IeO</mi>
        </msub>
        <annotation encoding="StarMath 5.0">{bold nitalic n}_IeO</annotation>
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      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAVkDAAAn
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       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
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      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Ie</mi>
        <annotation encoding="StarMath 5.0">Ie</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAATICAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAMQIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
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       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBJZUYBAAAAAP//AgBJAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>in absolute components.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object49" text:anchor-type="as-char" svg:width="0.4563in" svg:height="0.2098in" draw:z-index="42"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mstyle mathvariant="bold">
          <mi mathvariant="normal">r</mi>
         </mstyle>
         <mi mathvariant="italic">IeJeKe</mi>
        </msub>
        <annotation encoding="StarMath 5.0">{bold nitalic r}_IeJeKe</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAXMEAAAn
       AgAAFQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAcgQAACYCAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAACNAQAAAQByugAAAAAA//8BAHIAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAMAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAmAAAAPgEAAPcBAAAGAEllSmVLZccCAAAAAP//BgBJAGUASgBlAEsAZQCMAAEAAAAAAJUA
       AQAEAAAAAAAAAJYAAQACAAAAAACMAAEAAAAAAA==
      </office:binary-data>
     </draw:image>
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      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Ie</mi>
        <annotation encoding="StarMath 5.0">Ie</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAATICAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAMQIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
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       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBJZUYBAAAAAP//AgBJAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>to<draw:frame draw:style-name="fr1" draw:name="Object51" text:anchor-type="as-char" svg:width="0.2366in" svg:height="0.1898in" draw:z-index="44"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Je</mi>
        <annotation encoding="StarMath 5.0">Je</annotation>
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      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAWICAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAYQIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBKZXUBAAAAAP//AgBKAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>as seen from<draw:frame draw:style-name="fr1" draw:name="Object52" text:anchor-type="as-char" svg:width="0.2681in" svg:height="0.1898in" draw:z-index="45"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Ke</mi>
        <annotation encoding="StarMath 5.0">Ke</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAcACAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAvwIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
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       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object48" text:anchor-type="as-char" svg:width="0.4661in" svg:height="0.2098in" draw:z-index="46"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mstyle mathvariant="bold">
          <mi mathvariant="normal">v</mi>
         </mstyle>
         <mi mathvariant="italic">IeJeKe</mi>
        </msub>
        <annotation encoding="StarMath 5.0">{bold nitalic v}_IeJeKe</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAZwEAAAn
       AgAAFQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAmwQAACYCAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
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       AQAEAAAAAAAAAJYAAQACAAAAAACMAAEAAAAAAA==
      </office:binary-data>
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    </draw:frame>velocity from<draw:frame draw:style-name="fr1" draw:name="Object67" text:anchor-type="as-char" svg:width="0.2181in" svg:height="0.1898in" draw:z-index="47"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Ie</mi>
        <annotation encoding="StarMath 5.0">Ie</annotation>
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      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAATICAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAMQIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBJZUYBAAAAAP//AgBJAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>to<draw:frame draw:style-name="fr1" draw:name="Object68" text:anchor-type="as-char" svg:width="0.2366in" svg:height="0.1898in" draw:z-index="48"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Je</mi>
        <annotation encoding="StarMath 5.0">Je</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAWICAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAYQIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBKZXUBAAAAAP//AgBKAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>as seen from<draw:frame draw:style-name="fr1" draw:name="Object69" text:anchor-type="as-char" svg:width="0.2681in" svg:height="0.1898in" draw:z-index="49"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Ke</mi>
        <annotation encoding="StarMath 5.0">Ke</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAcACAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAvwIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBLZdYBAAAAAP//AgBLAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object26" text:anchor-type="as-char" svg:width="0.4563in" svg:height="0.2161in" draw:z-index="81"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mstyle mathvariant="bold">
          <mi mathvariant="normal">a</mi>
         </mstyle>
         <mi mathvariant="italic">IeJeKe</mi>
        </msub>
        <annotation encoding="StarMath 5.0">{bold nitalic a}_IeJeKe</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAYkEAAAn
       AgAAFQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAiAQAACYCAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAACNAQAAAQBh1AAAAAAA//8BAGEAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAMAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAmAAAAWAEAAPcBAAAGAEllSmVLZccCAAAAAP//BgBJAGUASgBlAEsAZQCMAAEAAAAAAJUA
       AQAEAAAAAAAAAJYAAQACAAAAAACMAAEAAAAAAA==
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     </draw:image>
    </draw:frame>acceleration from<draw:frame draw:style-name="fr1" draw:name="Object27" text:anchor-type="as-char" svg:width="0.2181in" svg:height="0.1898in" draw:z-index="82"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Ie</mi>
        <annotation encoding="StarMath 5.0">Ie</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAATICAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAMQIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBJZUYBAAAAAP//AgBJAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
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     </draw:image>
    </draw:frame>to<draw:frame draw:style-name="fr1" draw:name="Object28" text:anchor-type="as-char" svg:width="0.2366in" svg:height="0.1898in" draw:z-index="83"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Je</mi>
        <annotation encoding="StarMath 5.0">Je</annotation>
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      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAWICAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAYQIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBKZXUBAAAAAP//AgBKAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
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    </draw:frame>as seen from<draw:frame draw:style-name="fr1" draw:name="Object29" text:anchor-type="as-char" svg:width="0.2681in" svg:height="0.1898in" draw:z-index="84"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi mathvariant="italic">Ke</mi>
        <annotation encoding="StarMath 5.0">Ke</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAcACAADj
       AQAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAvwIAAOIBAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAGgAAAIQAAAByAQAAAgBLZdYBAAAAAP//AgBLAGUAjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object47" text:anchor-type="as-char" svg:width="0.2516in" svg:height="0.2098in" draw:z-index="50"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mstyle mathvariant="bold">
          <mi mathvariant="normal">q</mi>
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        <annotation encoding="StarMath 5.0">{bold nitalic q}_X</annotation>
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     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAYMCAAAn
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       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAADAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
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   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object46" text:anchor-type="as-char" svg:width="0.248in" svg:height="0.2161in" draw:z-index="51"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
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   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object45" text:anchor-type="as-char" svg:width="0.1319in" svg:height="0.1898in" draw:z-index="52"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
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      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAUUBAADj
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   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object44" text:anchor-type="as-char" svg:width="0.3417in" svg:height="0.2098in" draw:z-index="53"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
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      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
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        <annotation encoding="StarMath 5.0">Ie</annotation>
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   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object43" text:anchor-type="as-char" svg:width="0.3063in" svg:height="0.2098in" draw:z-index="55"><draw:object>
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     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAe8CAAAn
       AgAAFQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAA7gIAACYCAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABqAAAAjQEAAAEAAAC+4OUAAAAAAP//AQC+4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAADAAAABQAA
       AAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAA
       AAByAAIAHQAAAFgBAAD3AQAAAwBJSnooAQAAAAD//wMASQBKAHoAjAABAAAAAACVAAEABAAA
       AAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>rotation of J wrt I about common z axis.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object36" text:anchor-type="as-char" svg:width="0.372in" svg:height="0.2098in" draw:z-index="66"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mstyle mathvariant="bold">
          <mi mathvariant="normal">ω</mi>
         </mstyle>
         <mi mathvariant="italic">IJK</mi>
        </msub>
        <annotation encoding="StarMath 5.0">{bold nitalic %omega}_IJK</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAaADAAAn
       AgAAFQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAnwMAACYCAACVAAEABAAAAAIAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEA
       AP//AAAAAAgAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABqAAAAjQEAAAEAAADO4E4BAAAAAP//AQDO4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAADAAAABQAA
       AAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAA
       AAByAAIAHQAAAMIBAAD3AQAAAwBJSktwAQAAAAD//wMASQBKAEsAjAABAAAAAACVAAEABAAA
       AAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>angular velocity of frame J wrt frame I in frame K components.</text:p>
   <text:p text:style-name="Standard"/>
  </office:text>
 </office:body>
</office:document>