3220force.fodt

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        <annotation encoding="StarMath 5.0">{partial {bold nitalic T}_{IeiGO}}
over
{partial {bold nitalic q}}
=
left[{bold nitalic A}(t) right]_Oa
{partial left [ {bold nitalic B} right ]_ap}
over
{partial {bold nitalic q}}
left(
%lambda_iG
{partial G_iG}
over
{partial {bold nitalic q}_IE}
-
left[
{partial {bold nitalic r}_{OIeO}}
over
{partial {bold nitalic q}_{IE}}
right]^T
{bold nitalic F}_{IeiGO}
right)

newline
&quot;&quot;~~~~~~~~
+
left[{bold nitalic A}(t) right]_Oa
left [ {bold nitalic B} right ]_ap
left(
%lambda_iG
{partial^2 G_iG}
over
{partial {bold nitalic q}_IE partial {bold nitalic q}}
-
left[
{partial {bold nitalic r}_{OIeO}}
over
{partial {bold nitalic q}_{IE}}
right]^T

{partial {bold nitalic F}_{IeiGO}}
over
{partial {bold nitalic q}}
right)


</annotation>
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