3230force.fodt

<?xml version="1.0" encoding="UTF-8"?>

<office:document xmlns:office="urn:oasis:names:tc:opendocument:xmlns:office:1.0" xmlns:ooo="http://openoffice.org/2004/office" xmlns:fo="urn:oasis:names:tc:opendocument:xmlns:xsl-fo-compatible:1.0" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:config="urn:oasis:names:tc:opendocument:xmlns:config:1.0" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:meta="urn:oasis:names:tc:opendocument:xmlns:meta:1.0" xmlns:style="urn:oasis:names:tc:opendocument:xmlns:style:1.0" xmlns:text="urn:oasis:names:tc:opendocument:xmlns:text:1.0" xmlns:rpt="http://openoffice.org/2005/report" xmlns:draw="urn:oasis:names:tc:opendocument:xmlns:drawing:1.0" xmlns:dr3d="urn:oasis:names:tc:opendocument:xmlns:dr3d:1.0" xmlns:svg="urn:oasis:names:tc:opendocument:xmlns:svg-compatible:1.0" xmlns:chart="urn:oasis:names:tc:opendocument:xmlns:chart:1.0" xmlns:table="urn:oasis:names:tc:opendocument:xmlns:table:1.0" xmlns:number="urn:oasis:names:tc:opendocument:xmlns:datastyle:1.0" xmlns:ooow="http://openoffice.org/2004/writer" xmlns:oooc="http://openoffice.org/2004/calc" xmlns:of="urn:oasis:names:tc:opendocument:xmlns:of:1.2" xmlns:xforms="http://www.w3.org/2002/xforms" xmlns:tableooo="http://openoffice.org/2009/table" xmlns:calcext="urn:org:documentfoundation:names:experimental:calc:xmlns:calcext:1.0" xmlns:drawooo="http://openoffice.org/2010/draw" xmlns:loext="urn:org:documentfoundation:names:experimental:office:xmlns:loext:1.0" xmlns:field="urn:openoffice:names:experimental:ooo-ms-interop:xmlns:field:1.0" xmlns:math="http://www.w3.org/1998/Math/MathML" xmlns:form="urn:oasis:names:tc:opendocument:xmlns:form:1.0" xmlns:script="urn:oasis:names:tc:opendocument:xmlns:script:1.0" xmlns:formx="urn:openoffice:names:experimental:ooxml-odf-interop:xmlns:form:1.0" xmlns:dom="http://www.w3.org/2001/xml-events" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xhtml="http://www.w3.org/1999/xhtml" xmlns:grddl="http://www.w3.org/2003/g/data-view#" xmlns:css3t="http://www.w3.org/TR/css3-text/" xmlns:officeooo="http://openoffice.org/2009/office" office:version="1.3" office:mimetype="application/vnd.oasis.opendocument.text">
 <office:meta><meta:generator>LibreOffice/7.4.6.2$Windows_X86_64 LibreOffice_project/5b1f5509c2decdade7fda905e3e1429a67acd63d</meta:generator><meta:initial-creator>Preferred Customer</meta:initial-creator><meta:creation-date>1997-06-10T20:14:00</meta:creation-date><dc:date>2006-10-19T16:49:21</dc:date><dc:language>en-US</dc:language><meta:editing-cycles>28</meta:editing-cycles><meta:editing-duration>PT19H26M4S</meta:editing-duration><meta:document-statistic meta:table-count="0" meta:image-count="0" meta:object-count="16" meta:page-count="1" meta:paragraph-count="26" meta:word-count="149" meta:character-count="896"/><meta:user-defined meta:name="Info 1"/><meta:user-defined meta:name="Info 2"/><meta:user-defined meta:name="Info 3"/><meta:user-defined meta:name="Info 4"/></office:meta>
 <office:settings>
  <config:config-item-set config:name="ooo:view-settings">
   <config:config-item config:name="ViewAreaTop" config:type="long">501</config:config-item>
   <config:config-item config:name="ViewAreaLeft" config:type="long">501</config:config-item>
   <config:config-item config:name="ViewAreaWidth" config:type="long">41753</config:config-item>
   <config:config-item config:name="ViewAreaHeight" config:type="long">22756</config:config-item>
   <config:config-item config:name="ShowRedlineChanges" config:type="boolean">true</config:config-item>
   <config:config-item config:name="InBrowseMode" config:type="boolean">true</config:config-item>
   <config:config-item-map-indexed config:name="Views">
    <config:config-item-map-entry>
     <config:config-item config:name="ViewId" config:type="string">view2</config:config-item>
     <config:config-item config:name="ViewLeft" config:type="long">713</config:config-item>
     <config:config-item config:name="ViewTop" config:type="long">1242</config:config-item>
     <config:config-item config:name="VisibleLeft" config:type="long">501</config:config-item>
     <config:config-item config:name="VisibleTop" config:type="long">501</config:config-item>
     <config:config-item config:name="VisibleRight" config:type="long">42252</config:config-item>
     <config:config-item config:name="VisibleBottom" config:type="long">23255</config:config-item>
     <config:config-item config:name="ZoomType" config:type="short">0</config:config-item>
     <config:config-item config:name="ViewLayoutColumns" config:type="short">1</config:config-item>
     <config:config-item config:name="ViewLayoutBookMode" config:type="boolean">false</config:config-item>
     <config:config-item config:name="ZoomFactor" config:type="short">100</config:config-item>
     <config:config-item config:name="IsSelectedFrame" config:type="boolean">false</config:config-item>
     <config:config-item config:name="KeepRatio" config:type="boolean">false</config:config-item>
     <config:config-item config:name="HideWhitespace" config:type="boolean">false</config:config-item>
     <config:config-item config:name="AnchoredTextOverflowLegacy" config:type="boolean">true</config:config-item>
    </config:config-item-map-entry>
   </config:config-item-map-indexed>
  </config:config-item-set>
  <config:config-item-set config:name="ooo:configuration-settings">
   <config:config-item config:name="ProtectForm" config:type="boolean">false</config:config-item>
   <config:config-item-map-indexed config:name="ForbiddenCharacters">
    <config:config-item-map-entry>
     <config:config-item config:name="Language" config:type="string">ja</config:config-item>
     <config:config-item config:name="Country" config:type="string">JP</config:config-item>
     <config:config-item config:name="Variant" config:type="string"/>
     <config:config-item config:name="BeginLine" config:type="string">!%),.:;?]}¢°’”‰′″℃、。々〉》」』】〕゛゜ゝゞ・ヽヾ！％），．：；？］｝｡｣､･ﾞﾟ￠</config:config-item>
     <config:config-item config:name="EndLine" config:type="string">$([\{£¥‘“〈《「『【〔＄（［｛｢￡￥</config:config-item>
    </config:config-item-map-entry>
   </config:config-item-map-indexed>
   <config:config-item config:name="PrinterName" config:type="string">HP Officejet Pro 8600 (Network)</config:config-item>
   <config:config-item config:name="EmbeddedDatabaseName" config:type="string"/>
   <config:config-item config:name="CurrentDatabaseDataSource" config:type="string"/>
   <config:config-item config:name="LinkUpdateMode" config:type="short">1</config:config-item>
   <config:config-item config:name="AddParaTableSpacingAtStart" config:type="boolean">true</config:config-item>
   <config:config-item config:name="FloattableNomargins" config:type="boolean">false</config:config-item>
   <config:config-item config:name="UnbreakableNumberings" config:type="boolean">false</config:config-item>
   <config:config-item config:name="FieldAutoUpdate" config:type="boolean">true</config:config-item>
   <config:config-item config:name="AddVerticalFrameOffsets" config:type="boolean">false</config:config-item>
   <config:config-item config:name="BackgroundParaOverDrawings" config:type="boolean">false</config:config-item>
   <config:config-item config:name="AddParaTableSpacing" config:type="boolean">true</config:config-item>
   <config:config-item config:name="ChartAutoUpdate" config:type="boolean">true</config:config-item>
   <config:config-item config:name="CurrentDatabaseCommand" config:type="string"/>
   <config:config-item config:name="PrinterSetup" config:type="base64Binary">KQv+/0hQIE9mZmljZWpldCBQcm8gODYwMCAoTmV0d29yaykAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAASFAgT2ZmaWNlamV0IFBybyA4NjAwAAAAAAAAAAAAAAAWAAEASgoAAAAAAAAIAFZUAAAkbQAAM1ROVwAAAAAKAEgAUAAgAE8AZgBmAGkAYwBlAGoAZQB0ACAAUAByAG8AIAA4ADYAMAAwACAAKABOAGUAdAB3AG8AcgBrAAAAAAABBAMG3ABkCUP/gQcBAAEA6gpvCGQAAQAPAFgCAgABAFgCAgABAEwAZQB0AHQAZQByAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAEAAAAAAAAAAgAAAAIAAAAVAQAAAQEAAAAAAAAAAAAAAAAAAAAAAABESU5VIgC4AhQFUAS7D207AAAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAAAAABwAAAABAAAAAAAAAAAAAAAAAAAAAAAAAAEAAAAAAAAAAAAAAAAAAAABAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAEAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAuAIAAFNNVEoAAAAAEACoAgAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAUAQAAExQUEgBAAAAUQjbYFEI22AHAAAAAAAAAAAAAAAAAAAAAQAAAAAAAAAAAAAAAAAAAAAAAABYAgAAWAIAAFgCAABYAgAAAgAAAOwTAADIGQAAoRMAAH0ZAABLAAAASwAAADwAAAA8AAAAPAAAADwAAAAAAAAAAQAAAA8nAAABAAAAAQAAAAEAAAAPJwAAAAAAAA8nAAAPJwAAAAAAAA8nAAAPJwAADycAAA8nAAAPJwAADycAAA8nAAAPJwAADycAAA8nAAAPJwAADycAAA8nAAAPJwAADycAAA8nAAAPJwAADycAAA8nAAAPJwAADycAAA8nAAAPJwAADycAAA8nAAAPJwAADycAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAVHVlIEFwciAxOCAxMTowMjowNjo4NDAgMjAyMwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAd7oPYEsAAABLAAAAAQAAAAAAAAAEAAAAAAEAAHe6D2AAAAAAEgBDT01QQVRfRFVQTEVYX01PREUPAER1cGxleE1vZGU6Ok9mZg==</config:config-item>
   <config:config-item config:name="AlignTabStopPosition" config:type="boolean">true</config:config-item>
   <config:config-item config:name="PrinterPaperFromSetup" config:type="boolean">false</config:config-item>
   <config:config-item config:name="IsKernAsianPunctuation" config:type="boolean">false</config:config-item>
   <config:config-item config:name="CharacterCompressionType" config:type="short">0</config:config-item>
   <config:config-item config:name="ApplyUserData" config:type="boolean">true</config:config-item>
   <config:config-item config:name="DoNotJustifyLinesWithManualBreak" config:type="boolean">true</config:config-item>
   <config:config-item config:name="SaveThumbnail" config:type="boolean">true</config:config-item>
   <config:config-item config:name="SaveGlobalDocumentLinks" config:type="boolean">false</config:config-item>
   <config:config-item config:name="SmallCapsPercentage66" config:type="boolean">true</config:config-item>
   <config:config-item config:name="CurrentDatabaseCommandType" config:type="int">0</config:config-item>
   <config:config-item config:name="SaveVersionOnClose" config:type="boolean">false</config:config-item>
   <config:config-item config:name="UpdateFromTemplate" config:type="boolean">false</config:config-item>
   <config:config-item config:name="DoNotCaptureDrawObjsOnPage" config:type="boolean">false</config:config-item>
   <config:config-item config:name="UseFormerObjectPositioning" config:type="boolean">true</config:config-item>
   <config:config-item config:name="PrintSingleJobs" config:type="boolean">false</config:config-item>
   <config:config-item config:name="EmbedSystemFonts" config:type="boolean">false</config:config-item>
   <config:config-item config:name="PrinterIndependentLayout" config:type="string">disabled</config:config-item>
   <config:config-item config:name="IsLabelDocument" config:type="boolean">false</config:config-item>
   <config:config-item config:name="AddFrameOffsets" config:type="boolean">false</config:config-item>
   <config:config-item config:name="AddExternalLeading" config:type="boolean">false</config:config-item>
   <config:config-item config:name="MsWordCompMinLineHeightByFly" config:type="boolean">false</config:config-item>
   <config:config-item config:name="UseOldNumbering" config:type="boolean">true</config:config-item>
   <config:config-item config:name="OutlineLevelYieldsNumbering" config:type="boolean">false</config:config-item>
   <config:config-item config:name="DoNotResetParaAttrsForNumFont" config:type="boolean">true</config:config-item>
   <config:config-item config:name="IgnoreFirstLineIndentInNumbering" config:type="boolean">true</config:config-item>
   <config:config-item config:name="AllowPrintJobCancel" config:type="boolean">true</config:config-item>
   <config:config-item config:name="UseFormerLineSpacing" config:type="boolean">true</config:config-item>
   <config:config-item config:name="AddParaSpacingToTableCells" config:type="boolean">false</config:config-item>
   <config:config-item config:name="AddParaLineSpacingToTableCells" config:type="boolean">false</config:config-item>
   <config:config-item config:name="UseFormerTextWrapping" config:type="boolean">true</config:config-item>
   <config:config-item config:name="RedlineProtectionKey" config:type="base64Binary"/>
   <config:config-item config:name="ConsiderTextWrapOnObjPos" config:type="boolean">false</config:config-item>
   <config:config-item config:name="TableRowKeep" config:type="boolean">false</config:config-item>
   <config:config-item config:name="TabsRelativeToIndent" config:type="boolean">true</config:config-item>
   <config:config-item config:name="IgnoreTabsAndBlanksForLineCalculation" config:type="boolean">false</config:config-item>
   <config:config-item config:name="RsidRoot" config:type="int">186691</config:config-item>
   <config:config-item config:name="LoadReadonly" config:type="boolean">false</config:config-item>
   <config:config-item config:name="ClipAsCharacterAnchoredWriterFlyFrames" config:type="boolean">true</config:config-item>
   <config:config-item config:name="UnxForceZeroExtLeading" config:type="boolean">true</config:config-item>
   <config:config-item config:name="UseOldPrinterMetrics" config:type="boolean">false</config:config-item>
   <config:config-item config:name="TabAtLeftIndentForParagraphsInList" config:type="boolean">false</config:config-item>
   <config:config-item config:name="Rsid" config:type="int">186691</config:config-item>
   <config:config-item config:name="MsWordCompTrailingBlanks" config:type="boolean">false</config:config-item>
   <config:config-item config:name="MathBaselineAlignment" config:type="boolean">false</config:config-item>
   <config:config-item config:name="InvertBorderSpacing" config:type="boolean">false</config:config-item>
   <config:config-item config:name="CollapseEmptyCellPara" config:type="boolean">false</config:config-item>
   <config:config-item config:name="TabOverflow" config:type="boolean">false</config:config-item>
   <config:config-item config:name="StylesNoDefault" config:type="boolean">false</config:config-item>
   <config:config-item config:name="ClippedPictures" config:type="boolean">false</config:config-item>
   <config:config-item config:name="EmbedFonts" config:type="boolean">false</config:config-item>
   <config:config-item config:name="EmbedOnlyUsedFonts" config:type="boolean">false</config:config-item>
   <config:config-item config:name="EmbedLatinScriptFonts" config:type="boolean">true</config:config-item>
   <config:config-item config:name="EmbedAsianScriptFonts" config:type="boolean">true</config:config-item>
   <config:config-item config:name="EmptyDbFieldHidesPara" config:type="boolean">false</config:config-item>
   <config:config-item config:name="EmbedComplexScriptFonts" config:type="boolean">true</config:config-item>
   <config:config-item config:name="TabOverMargin" config:type="boolean">false</config:config-item>
   <config:config-item config:name="TabOverSpacing" config:type="boolean">false</config:config-item>
   <config:config-item config:name="TreatSingleColumnBreakAsPageBreak" config:type="boolean">false</config:config-item>
   <config:config-item config:name="SurroundTextWrapSmall" config:type="boolean">false</config:config-item>
   <config:config-item config:name="ApplyParagraphMarkFormatToNumbering" config:type="boolean">false</config:config-item>
   <config:config-item config:name="PropLineSpacingShrinksFirstLine" config:type="boolean">false</config:config-item>
   <config:config-item config:name="SubtractFlysAnchoredAtFlys" config:type="boolean">true</config:config-item>
   <config:config-item config:name="DisableOffPagePositioning" config:type="boolean">false</config:config-item>
   <config:config-item config:name="ContinuousEndnotes" config:type="boolean">false</config:config-item>
   <config:config-item config:name="ProtectBookmarks" config:type="boolean">false</config:config-item>
   <config:config-item config:name="ProtectFields" config:type="boolean">false</config:config-item>
   <config:config-item config:name="HeaderSpacingBelowLastPara" config:type="boolean">false</config:config-item>
   <config:config-item config:name="FrameAutowidthWithMorePara" config:type="boolean">false</config:config-item>
   <config:config-item config:name="GutterAtTop" config:type="boolean">false</config:config-item>
   <config:config-item config:name="FootnoteInColumnToPageEnd" config:type="boolean">false</config:config-item>
   <config:config-item config:name="ImagePreferredDPI" config:type="int">0</config:config-item>
   <config:config-item config:name="AutoFirstLineIndentDisregardLineSpace" config:type="boolean">false</config:config-item>
   <config:config-item config:name="WordLikeWrapForAsCharFlys" config:type="boolean">false</config:config-item>
   <config:config-item config:name="NoNumberingShowFollowBy" config:type="boolean">false</config:config-item>
   <config:config-item config:name="PrintAnnotationMode" config:type="short">0</config:config-item>
   <config:config-item config:name="PrintGraphics" config:type="boolean">true</config:config-item>
   <config:config-item config:name="PrintBlackFonts" config:type="boolean">false</config:config-item>
   <config:config-item config:name="PrintLeftPages" config:type="boolean">true</config:config-item>
   <config:config-item config:name="PrintControls" config:type="boolean">true</config:config-item>
   <config:config-item config:name="PrintPageBackground" config:type="boolean">true</config:config-item>
   <config:config-item config:name="PrintTextPlaceholder" config:type="boolean">false</config:config-item>
   <config:config-item config:name="PrintDrawings" config:type="boolean">true</config:config-item>
   <config:config-item config:name="PrintHiddenText" config:type="boolean">false</config:config-item>
   <config:config-item config:name="PrintProspect" config:type="boolean">false</config:config-item>
   <config:config-item config:name="PrintTables" config:type="boolean">true</config:config-item>
   <config:config-item config:name="PrintProspectRTL" config:type="boolean">false</config:config-item>
   <config:config-item config:name="PrintReversed" config:type="boolean">false</config:config-item>
   <config:config-item config:name="PrintRightPages" config:type="boolean">true</config:config-item>
   <config:config-item config:name="PrintFaxName" config:type="string"/>
   <config:config-item config:name="PrintPaperFromSetup" config:type="boolean">false</config:config-item>
   <config:config-item config:name="PrintEmptyPages" config:type="boolean">true</config:config-item>
  </config:config-item-set>
 </office:settings>
 <office:scripts>
  <office:script script:language="ooo:Basic">
   <ooo:libraries xmlns:ooo="http://openoffice.org/2004/office" xmlns:xlink="http://www.w3.org/1999/xlink"/>
  </office:script>
 </office:scripts>
 <office:font-face-decls>
  <style:font-face style:name="Albany" svg:font-family="Albany" style:font-family-generic="swiss" style:font-pitch="variable"/>
  <style:font-face style:name="Arial Unicode MS" svg:font-family="&apos;Arial Unicode MS&apos;" style:font-pitch="variable"/>
  <style:font-face style:name="HG Mincho Light J" svg:font-family="&apos;HG Mincho Light J&apos;" style:font-pitch="variable"/>
  <style:font-face style:name="Thorndale" svg:font-family="Thorndale" style:font-family-generic="roman" style:font-pitch="variable"/>
  <style:font-face style:name="Times New Roman" svg:font-family="&apos;Times New Roman&apos;" style:font-family-generic="roman" style:font-pitch="variable"/>
 </office:font-face-decls>
 <office:styles>
  <style:default-style style:family="graphic">
   <style:graphic-properties svg:stroke-color="#000000" draw:fill-color="#99ccff" fo:wrap-option="no-wrap" draw:shadow-offset-x="0.1181in" draw:shadow-offset-y="0.1181in" draw:start-line-spacing-horizontal="0.1114in" draw:start-line-spacing-vertical="0.1114in" draw:end-line-spacing-horizontal="0.1114in" draw:end-line-spacing-vertical="0.1114in" style:flow-with-text="true"/>
   <style:paragraph-properties style:text-autospace="ideograph-alpha" style:line-break="strict" style:font-independent-line-spacing="false">
    <style:tab-stops/>
   </style:paragraph-properties>
   <style:text-properties fo:color="#000000" loext:opacity="100%" loext:color-lum-mod="100%" loext:color-lum-off="0%" style:font-name="Thorndale" fo:font-size="12pt" fo:language="en" fo:country="US" style:font-name-asian="HG Mincho Light J" style:font-size-asian="12pt" style:language-asian="en" style:country-asian="US" style:font-name-complex="Arial Unicode MS" style:font-size-complex="12pt" style:language-complex="en" style:country-complex="US"/>
  </style:default-style>
  <style:default-style style:family="paragraph">
   <style:paragraph-properties fo:hyphenation-ladder-count="no-limit" style:text-autospace="ideograph-alpha" style:punctuation-wrap="hanging" style:line-break="strict" style:tab-stop-distance="0.5in" style:writing-mode="page"/>
   <style:text-properties fo:color="#000000" loext:opacity="100%" style:font-name="Thorndale" fo:font-size="12pt" fo:language="en" fo:country="US" style:font-name-asian="HG Mincho Light J" style:font-size-asian="12pt" style:language-asian="en" style:country-asian="US" style:font-name-complex="Arial Unicode MS" style:font-size-complex="12pt" style:language-complex="en" style:country-complex="US" fo:hyphenate="false" fo:hyphenation-remain-char-count="2" fo:hyphenation-push-char-count="2" loext:hyphenation-no-caps="false" loext:hyphenation-no-last-word="false" loext:hyphenation-word-char-count="no-limit" loext:hyphenation-zone="no-limit"/>
  </style:default-style>
  <style:default-style style:family="table">
   <style:table-properties table:border-model="separating"/>
  </style:default-style>
  <style:default-style style:family="table-row">
   <style:table-row-properties fo:keep-together="always"/>
  </style:default-style>
  <style:style style:name="Standard" style:family="paragraph" style:class="text">
   <style:paragraph-properties fo:orphans="2" fo:widows="2"/>
   <style:text-properties style:use-window-font-color="true" loext:opacity="0%" style:font-name="Times New Roman" fo:font-family="&apos;Times New Roman&apos;" style:font-family-generic="roman" style:font-pitch="variable" fo:font-size="12pt" fo:language="en" fo:country="US" style:font-name-asian="Times New Roman" style:font-family-asian="&apos;Times New Roman&apos;" style:font-family-generic-asian="roman" style:font-pitch-asian="variable" style:font-size-asian="12pt"/>
  </style:style>
  <style:style style:name="Text_20_body" style:display-name="Text body" style:family="paragraph" style:parent-style-name="Standard" style:class="text">
   <style:paragraph-properties fo:margin-top="0in" fo:margin-bottom="0.0835in" style:contextual-spacing="false"/>
  </style:style>
  <style:style style:name="Heading" style:family="paragraph" style:parent-style-name="Standard" style:next-style-name="Text_20_body" style:class="text">
   <style:paragraph-properties fo:margin-top="0.1665in" fo:margin-bottom="0.0835in" style:contextual-spacing="false" fo:keep-with-next="always"/>
   <style:text-properties style:font-name="Albany" fo:font-family="Albany" style:font-family-generic="swiss" style:font-pitch="variable" fo:font-size="14pt" style:font-name-asian="HG Mincho Light J" style:font-family-asian="&apos;HG Mincho Light J&apos;" style:font-pitch-asian="variable" style:font-size-asian="14pt" style:font-name-complex="Arial Unicode MS" style:font-family-complex="&apos;Arial Unicode MS&apos;" style:font-pitch-complex="variable" style:font-size-complex="14pt"/>
  </style:style>
  <style:style style:name="Heading_20_1" style:display-name="Heading 1" style:family="paragraph" style:parent-style-name="Standard" style:next-style-name="Standard" style:default-outline-level="1" style:class="text">
   <style:paragraph-properties fo:margin-top="0.1665in" fo:margin-bottom="0.0417in" style:contextual-spacing="false" fo:keep-with-next="always"/>
   <style:text-properties fo:font-weight="bold" style:letter-kerning="true" style:font-weight-asian="bold"/>
  </style:style>
  <style:style style:name="Heading_20_2" style:display-name="Heading 2" style:family="paragraph" style:parent-style-name="Standard" style:next-style-name="Standard" style:default-outline-level="2" style:class="text">
   <style:paragraph-properties fo:margin-top="0.1665in" fo:margin-bottom="0.0417in" style:contextual-spacing="false" fo:keep-with-next="always"/>
   <style:text-properties fo:font-weight="bold" style:font-weight-asian="bold"/>
  </style:style>
  <style:style style:name="Heading_20_3" style:display-name="Heading 3" style:family="paragraph" style:parent-style-name="Standard" style:next-style-name="Standard" style:default-outline-level="3" style:class="text">
   <style:paragraph-properties fo:margin-top="0.1665in" fo:margin-bottom="0.0417in" style:contextual-spacing="false" fo:keep-with-next="always"/>
   <style:text-properties fo:font-weight="bold" style:font-weight-asian="bold"/>
  </style:style>
  <style:style style:name="Heading_20_4" style:display-name="Heading 4" style:family="paragraph" style:parent-style-name="Standard" style:next-style-name="Standard" style:default-outline-level="4" style:class="text">
   <style:paragraph-properties fo:margin-top="0.1665in" fo:margin-bottom="0.0417in" style:contextual-spacing="false" fo:keep-with-next="always"/>
   <style:text-properties fo:font-weight="bold" style:font-weight-asian="bold"/>
  </style:style>
  <style:style style:name="equation" style:family="paragraph" style:parent-style-name="Standard">
   <style:paragraph-properties>
    <style:tab-stops>
     <style:tab-stop style:position="6.25in" style:type="right"/>
    </style:tab-stops>
   </style:paragraph-properties>
  </style:style>
  <style:style style:name="Footnote_20_Symbol" style:display-name="Footnote Symbol" style:family="text"/>
  <style:style style:name="Endnote_20_Symbol" style:display-name="Endnote Symbol" style:family="text"/>
  <style:style style:name="WW-Default_20_Paragraph_20_Font" style:display-name="WW-Default Paragraph Font" style:family="text"/>
  <style:style style:name="Footnote_20_anchor" style:display-name="Footnote anchor" style:family="text">
   <style:text-properties style:text-position="super 58%"/>
  </style:style>
  <style:style style:name="Endnote_20_anchor" style:display-name="Endnote anchor" style:family="text">
   <style:text-properties style:text-position="super 58%"/>
  </style:style>
  <style:style style:name="Frame" style:family="graphic">
   <style:graphic-properties text:anchor-type="paragraph" svg:x="0in" svg:y="0in" style:wrap="parallel" style:number-wrapped-paragraphs="no-limit" style:wrap-contour="false" style:vertical-pos="top" style:vertical-rel="paragraph-content" style:horizontal-pos="center" style:horizontal-rel="paragraph-content"/>
  </style:style>
  <style:style style:name="Graphics" style:family="graphic">
   <style:graphic-properties text:anchor-type="paragraph" svg:x="0in" svg:y="0in" style:wrap="none" style:vertical-pos="top" style:vertical-rel="paragraph" style:horizontal-pos="center" style:horizontal-rel="paragraph"/>
  </style:style>
  <style:style style:name="OLE" style:family="graphic">
   <style:graphic-properties text:anchor-type="paragraph" svg:x="0in" svg:y="0in" style:wrap="none" style:vertical-pos="top" style:vertical-rel="paragraph" style:horizontal-pos="center" style:horizontal-rel="paragraph"/>
  </style:style>
  <style:style style:name="Formula" style:family="graphic">
   <style:graphic-properties text:anchor-type="as-char" svg:y="0in" fo:margin-left="0.0791in" fo:margin-right="0.0791in" style:vertical-pos="middle" style:vertical-rel="text"/>
  </style:style>
  <text:outline-style style:name="Outline">
   <text:outline-level-style text:level="1" loext:num-list-format="%1%" style:num-format="">
    <style:list-level-properties/>
   </text:outline-level-style>
   <text:outline-level-style text:level="2" loext:num-list-format="%2%" style:num-format="">
    <style:list-level-properties/>
   </text:outline-level-style>
   <text:outline-level-style text:level="3" loext:num-list-format="%3%" style:num-format="">
    <style:list-level-properties/>
   </text:outline-level-style>
   <text:outline-level-style text:level="4" loext:num-list-format="%4%" style:num-format="">
    <style:list-level-properties/>
   </text:outline-level-style>
   <text:outline-level-style text:level="5" loext:num-list-format="%5%" style:num-format="">
    <style:list-level-properties/>
   </text:outline-level-style>
   <text:outline-level-style text:level="6" loext:num-list-format="%6%" style:num-format="">
    <style:list-level-properties/>
   </text:outline-level-style>
   <text:outline-level-style text:level="7" loext:num-list-format="%7%" style:num-format="">
    <style:list-level-properties/>
   </text:outline-level-style>
   <text:outline-level-style text:level="8" loext:num-list-format="%8%" style:num-format="">
    <style:list-level-properties/>
   </text:outline-level-style>
   <text:outline-level-style text:level="9" loext:num-list-format="%9%" style:num-format="">
    <style:list-level-properties/>
   </text:outline-level-style>
   <text:outline-level-style text:level="10" loext:num-list-format="%10%" style:num-format="">
    <style:list-level-properties/>
   </text:outline-level-style>
  </text:outline-style>
  <text:notes-configuration text:note-class="footnote" text:citation-style-name="Footnote_20_Symbol" text:citation-body-style-name="Footnote_20_anchor" style:num-format="1" text:start-value="0" text:footnotes-position="page" text:start-numbering-at="page"/>
  <text:notes-configuration text:note-class="endnote" text:citation-style-name="Endnote_20_Symbol" text:citation-body-style-name="Endnote_20_anchor" text:master-page-name="Endnote" style:num-format="1" text:start-value="0"/>
  <text:linenumbering-configuration text:number-lines="false" text:offset="0.1965in" style:num-format="1" text:number-position="left" text:increment="5"/>
 </office:styles>
 <office:automatic-styles>
  <style:style style:name="fr1" style:family="graphic" style:parent-style-name="Formula">
   <style:graphic-properties style:vertical-pos="middle" style:vertical-rel="text" style:horizontal-pos="from-left" style:horizontal-rel="paragraph-content" draw:ole-draw-aspect="1"/>
  </style:style>
  <style:page-layout style:name="pm1">
   <style:page-layout-properties fo:page-width="8.3in" fo:page-height="11.7in" style:num-format="1" style:print-orientation="portrait" fo:margin-top="1in" fo:margin-bottom="1in" fo:margin-left="1in" fo:margin-right="1in" style:writing-mode="lr-tb" style:layout-grid-color="#c0c0c0" style:layout-grid-lines="38" style:layout-grid-base-height="0.1945in" style:layout-grid-ruby-height="0.0555in" style:layout-grid-mode="none" style:layout-grid-ruby-below="false" style:layout-grid-print="false" style:layout-grid-display="false" style:footnote-max-height="0in" loext:margin-gutter="0in">
    <style:footnote-sep style:width="0.0071in" style:distance-before-sep="0.0398in" style:distance-after-sep="0.0398in" style:line-style="solid" style:adjustment="left" style:rel-width="25%" style:color="#000000"/>
   </style:page-layout-properties>
   <style:header-style/>
   <style:footer-style/>
  </style:page-layout>
  <style:page-layout style:name="pm2">
   <style:page-layout-properties fo:page-width="8.3in" fo:page-height="11.7in" style:num-format="1" style:print-orientation="portrait" fo:margin-top="0.7874in" fo:margin-bottom="0.7874in" fo:margin-left="0.7874in" fo:margin-right="0.7874in" style:writing-mode="lr-tb" style:layout-grid-color="#c0c0c0" style:layout-grid-lines="20" style:layout-grid-base-height="0.278in" style:layout-grid-ruby-height="0.139in" style:layout-grid-mode="none" style:layout-grid-ruby-below="false" style:layout-grid-print="false" style:layout-grid-display="false" style:footnote-max-height="0in" loext:margin-gutter="0in">
    <style:footnote-sep style:line-style="solid" style:adjustment="left" style:rel-width="25%" style:color="#000000"/>
   </style:page-layout-properties>
   <style:header-style/>
   <style:footer-style/>
  </style:page-layout>
  <style:style style:name="dp1" style:family="drawing-page">
   <style:drawing-page-properties draw:background-size="full"/>
  </style:style>
 </office:automatic-styles>
 <office:master-styles>
  <style:master-page style:name="Standard" style:page-layout-name="pm1" draw:style-name="dp1"/>
  <style:master-page style:name="Endnote" style:page-layout-name="pm2" draw:style-name="dp1"/>
 </office:master-styles>
 <office:body>
  <office:text>
   <text:sequence-decls>
    <text:sequence-decl text:display-outline-level="0" text:name="Illustration"/>
    <text:sequence-decl text:display-outline-level="0" text:name="Table"/>
    <text:sequence-decl text:display-outline-level="0" text:name="Text"/>
    <text:sequence-decl text:display-outline-level="0" text:name="Drawing"/>
    <text:sequence-decl text:display-outline-level="0" text:name="Figure"/>
   </text:sequence-decls>
   <text:h text:style-name="Heading_20_1" text:outline-level="1">Coulomb Friction</text:h>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object1" text:anchor-type="as-char" svg:width="0.4299in" svg:height="0.2272in" draw:z-index="0"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mstyle mathvariant="bold">
          <mi mathvariant="normal">F</mi>
         </mstyle>
         <mrow>
          <mi mathvariant="italic">Ie</mi>
          <mi>μ</mi>
          <mi>O</mi>
         </mrow>
        </msub>
        <annotation encoding="StarMath 5.0">{bold nitalic F}_{Ie{%mu}O}</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAUQEAABA
       AgAAIwAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAQwQAAD8CAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA/AAAABAA5AAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAAAAAAAAAiAABAAIAAAABAIcAAQAFAAAA
       /////wCGAAEABAAAAAAAAAByAAIAFwAAAGoAAACNAQAAAQBG/gAAAAAAAQABAEYAjAABAAAA
       AACLAAEAAgAAAB8AigABAD8AAAAEADkAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAF
       AAAAAAACAP8DAAAAAAAAAAAA/wMAAAAAAAAAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYA
       AQAEAAAAAAAAAHIAAgAaAAAAjQEAAPcBAAACAEllwwAAAAAAAgACAEkAZQCMAAEAAAAAAIsA
       AQACAAAAHwCKAAEAQAAAAAQAOgAAAAoAU3RhclN5bWJvbAAAAAAAAP0AAAD//wAAAAAFAAAA
       AAAAAP8DAAAAAAAAAAAA/wMAAAAAAAAAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAE
       AAAAAAAAAHIAAgAaAAAAewIAAPcBAAABAAAAwuCYAAAAAAABAAEAwuCMAAEAAAAAAIsAAQAC
       AAAAHwCKAAEAPwAAAAQAOQAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA
       /wMAAAAAAAAAAAD/AwAAAAAAAAAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABcAAAAaAwAA9wEAAAEAT7oAAAAAAAEAAQBPAIwAAQAAAAAAlQABAAQAAAAAAAAA
       lgABAAIAAAAAAIwAAQAAAAAA
      </office:binary-data>
     </draw:image>
    </draw:frame>Friction force on end frame Ie expressed in ground O components.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object2" text:anchor-type="as-char" svg:width="0.4366in" svg:height="0.2272in" draw:z-index="1"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mstyle mathvariant="bold">
          <mi mathvariant="normal">T</mi>
         </mstyle>
         <mrow>
          <mi mathvariant="italic">Ie</mi>
          <mi>μ</mi>
          <mi>O</mi>
         </mrow>
        </msub>
        <annotation encoding="StarMath 5.0">{bold nitalic T}_{Ie{%mu}O}</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAVYEAABA
       AgAAIwAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAVQQAAD8CAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAACNAQAAAQBUFwEAAAAA//8BAFQAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAaAAAApwEAAPcBAAACAEllwwAAAAAA//8CAEkAZQCMAAEAAAAAAIsAAQACAAAAHwCKAAEA
       OgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAP0AAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAewIA
       APcBAAABAAAAwuCYAAAAAAD//wEAwuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAA0AwAA9wEAAAEAT7oA
       AAAAAP//AQBPAIwAAQAAAAAAlQABAAQAAAAAAAAAlgABAAIAAAAAAIwAAQAAAAAA
      </office:binary-data>
     </draw:image>
    </draw:frame>Friction torque on end frame Ie expressed in ground O components.</text:p>
   <text:p text:style-name="Standard">The reaction is on the other part at the instantaneous location of Ie.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object3" text:anchor-type="as-char" svg:width="0.4909in" svg:height="0.2165in" draw:z-index="2"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mi>F</mi>
         <mrow>
          <mi mathvariant="italic">IeJtIe</mi>
          <mn>3</mn>
         </mrow>
        </msub>
        <annotation encoding="StarMath 5.0">F_{IeJtIe3}</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAd8EAAAn
       AgAAFQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAA3gQAACYCAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAIQAAAByAQAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgApAAAAwgEAAPcBAAAHAEllSnRJZTO2AgAAAAD//wcASQBlAEoAdABJAGUAMwCMAAEAAAAA
       AJUAAQAEAAAAAAAAAJYAAQACAAAAAACMAAEAAAAAAA==
      </office:binary-data>
     </draw:image>
    </draw:frame>Joint force on end frame Ie expressed in z component of Ie.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object4" text:anchor-type="as-char" svg:width="0.478in" svg:height="0.2165in" draw:z-index="3"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mi>T</mi>
         <mrow>
          <mi mathvariant="italic">IeJtIe</mi>
          <mn>3</mn>
         </mrow>
        </msub>
        <annotation encoding="StarMath 5.0">T_{IeJtIe3}</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAb0EAAAn
       AgAAFQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAvAQAACYCAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAAByAQAAAQBU7QAAAAAA//8BAFQAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgApAAAApwEAAPcBAAAHAEllSnRJZTO2AgAAAAD//wcASQBlAEoAdABJAGUAMwCMAAEAAAAA
       AJUAAQAEAAAAAAAAAJYAAQACAAAAAACMAAEAAAAAAA==
      </office:binary-data>
     </draw:image>
    </draw:frame>Joint torque on end frame Ie expressed in z component of Ie.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object5" text:anchor-type="as-char" svg:width="0.4252in" svg:height="0.2201in" draw:z-index="4"><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">IeJeIe</mi>
        </msub>
        <annotation encoding="StarMath 5.0">{bold nitalic v}_{IeJeIe}</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAATgEAAAv
       AgAAFQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAANwQAAC4CAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAIQAAACNAQAAAQB21AAAAAAA//8BAHYAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAmAAAAcgEAAPcBAAAGAEllSmVJZWICAAAAAP//BgBJAGUASgBlAEkAZQCMAAEAAAAAAJUA
       AQAEAAAAAAAAAJYAAQACAAAAAACMAAEAAAAAAA==
      </office:binary-data>
     </draw:image>
    </draw:frame>Velocity of Je wrt Ie expressed in Ie components.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object6" text:anchor-type="as-char" svg:width="0.4598in" svg:height="0.2201in" draw:z-index="5"><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">IeJeO</mi>
        </msub>
        <annotation encoding="StarMath 5.0">{bold nitalic %omega}_{IeJeO}</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAZAEAAAv
       AgAAFQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAjwQAAC4CAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEA
       AP//AAAAAAgAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABqAAAAjQEAAAEAAADO4FMBAAAAAP//AQDO4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAA
       AAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAA
       AAByAAIAIwAAANwBAAD3AQAABQBJZUplT1kCAAAAAP//BQBJAGUASgBlAE8AjAABAAAAAACV
       AAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame>Angular velocity of Je wrt Ie expressed in ground O components.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object7" text:anchor-type="as-char" svg:width="0.4575in" svg:height="0.2228in" draw:z-index="6"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <msub>
         <mrow>
          <mo fence="true" form="prefix" stretchy="true">[</mo>
          <mrow>
           <mstyle mathvariant="bold">
            <mi mathvariant="normal">A</mi>
           </mstyle>
          </mrow>
          <mo fence="true" form="postfix" stretchy="true">]</mo>
         </mrow>
         <mi mathvariant="italic">OIe</mi>
        </msub>
        <annotation encoding="StarMath 5.0">left[
{bold nitalic A}
right]_{OIe}</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAYsEAAA2
       AgAAIwAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAigQAADUCAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAADcAAAA+QEA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABqAAAApwEAAAEAAABbAF0AAAAAAP//AQBbAIwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAACAAA
       AAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAA
       AAByAAIAFwAAAO4AAACnAQAAAQBBMQEAAAAA//8BAEEAjAABAAAAAACLAAEAAgAAAB8AigAB
       ADoAAAACADQAAAAKAFN0YXJTeW1ib2wAANwAAAD5AQAA//8AAAAABQAAAAAAAAD/AwAAAAAA
       AAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAAEYC
       AACnAQAAAQAAAF0AXQAAAAAA//8BAF0AjAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMA
       AAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACI
       AAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAdAAAAsAIAAPcBAAADAE9J
       ZX0BAAAAAP//AwBPAEkAZQCMAAEAAAAAAJUAAQAEAAAAAAAAAJYAAQACAAAAAACMAAEAAAAA
       AA==
      </office:binary-data>
     </draw:image>
    </draw:frame>Transforms Ie components to O components.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object8" text:anchor-type="as-char" svg:width="0.1807in" svg:height="0.2071in" draw:z-index="7"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi>μ</mi>
        <annotation encoding="StarMath 5.0">%mu</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAcsBAAAN
       AgAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAygEAAAwCAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABqAAAAjQEAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAA
       lQABAAQAAAAAAAAAlgABAAIAAAAAAIwAAQAAAAAA
      </office:binary-data>
     </draw:image>
    </draw:frame>Dynamic coefficient of friction.</text:p>
   <text:p text:style-name="Standard"><draw:frame draw:style-name="fr1" draw:name="Object9" text:anchor-type="as-char" svg:width="0.1598in" svg:height="0.2071in" draw:z-index="8"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mi>ϵ</mi>
        <annotation encoding="StarMath 5.0">%epsilon</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAZUBAAAN
       AgAADgAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAlAEAAAwCAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABqAAAAjQEAAAEAAAC74MsAAAAAAP//AQC74IwAAQAAAAAA
       lQABAAQAAAAAAAAAlgABAAIAAAAAAIwAAQAAAAAA
      </office:binary-data>
     </draw:image>
    </draw:frame>A small linear or angular speed to avoid division by zero.</text:p>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">Revolute Joint Friction</text:h>
   <text:p text:style-name="equation"><draw:frame draw:style-name="fr1" draw:name="Object10" text:anchor-type="as-char" svg:width="4.4681in" svg:height="0.8047in" draw:z-index="9"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mtable>
         <mtr>
          <mtd>
           <mrow>
            <msub>
             <mstyle mathvariant="bold">
              <mi mathvariant="normal">T</mi>
             </mstyle>
             <mrow>
              <mi mathvariant="italic">Ie</mi>
              <mi>μ</mi>
              <mi>O</mi>
             </mrow>
            </msub>
            <mo stretchy="false">=</mo>
            <mrow>
             <mo fence="true" form="prefix" stretchy="true">(</mo>
             <mrow>
              <mrow>
               <msub>
                <mi>μ</mi>
                <mi mathvariant="italic">TFxy</mi>
               </msub>
               <mrow>
                <msqrt>
                 <mrow>
                  <msubsup>
                   <mi>F</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>1</mn>
                   </mrow>
                   <mn>2</mn>
                  </msubsup>
                  <mo stretchy="false">+</mo>
                  <msubsup>
                   <mi>F</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>2</mn>
                   </mrow>
                   <mn>2</mn>
                  </msubsup>
                 </mrow>
                </msqrt>
                <mo stretchy="false">+</mo>
                <msub>
                 <mi>μ</mi>
                 <mi mathvariant="italic">TFz</mi>
                </msub>
               </mrow>
               <mrow>
                <mrow>
                 <mo fence="true" form="prefix" stretchy="true">|</mo>
                 <mrow>
                  <msub>
                   <mi>F</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>3</mn>
                   </mrow>
                  </msub>
                 </mrow>
                 <mo fence="true" form="postfix" stretchy="true">|</mo>
                </mrow>
                <mo stretchy="false">+</mo>
                <msub>
                 <mi>μ</mi>
                 <mi mathvariant="italic">TTxy</mi>
                </msub>
               </mrow>
               <msqrt>
                <mrow>
                 <msubsup>
                  <mi>T</mi>
                  <mrow>
                   <mi mathvariant="italic">IeJtIe</mi>
                   <mn>1</mn>
                  </mrow>
                  <mn>2</mn>
                 </msubsup>
                 <mo stretchy="false">+</mo>
                 <msubsup>
                  <mi>T</mi>
                  <mrow>
                   <mi mathvariant="italic">IeJtIe</mi>
                   <mn>2</mn>
                  </mrow>
                  <mn>2</mn>
                 </msubsup>
                </mrow>
               </msqrt>
              </mrow>
             </mrow>
             <mo fence="true" form="postfix" stretchy="true">)</mo>
            </mrow>
           </mrow>
          </mtd>
         </mtr>
         <mtr>
          <mtd>
           <mrow>
            <mtext/>
            <mspace width="20em"/>
            <mrow>
             <mo fence="true" form="prefix" stretchy="true">(</mo>
             <mrow>
              <mfrac>
               <mrow>
                <msub>
                 <mi>ω</mi>
                 <mrow>
                  <mi mathvariant="italic">IeJeIe</mi>
                  <mn>3</mn>
                 </mrow>
                </msub>
                <msub>
                 <mstyle mathvariant="bold">
                  <mi mathvariant="normal">k</mi>
                 </mstyle>
                 <mi mathvariant="italic">IeO</mi>
                </msub>
               </mrow>
               <mrow>
                <msub>
                 <mi>ω</mi>
                 <mi mathvariant="italic">IeJe</mi>
                </msub>
                <mo stretchy="false">+</mo>
                <mi>ϵ</mi>
               </mrow>
              </mfrac>
             </mrow>
             <mo fence="true" form="postfix" stretchy="true">)</mo>
            </mrow>
           </mrow>
          </mtd>
         </mtr>
        </mtable>
        <annotation encoding="StarMath 5.0">{bold nitalic T}_{Ie{%mu}O}
=
left(
%mu_TFxy
sqrt 
{
F^2_IeJtIe1
+
F^2_IeJtIe2
}
+
%mu_TFz
abs
{
F_IeJtIe3
}
+
%mu_TTxy
sqrt 
{
T^2_IeJtIe1
+
T^2_IeJtIe2
}
right)

newline
&quot;&quot;~~~~~~~~~~
left(
{%omega_IeJeIe3 {bold nitalic k}_{IeO}}
over
{%omega_IeJe + %epsilon}
right)
</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAVQsAAD8
       BwAAXQEAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAUywAAPsHAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAAARAgAAAQBUFwEAAAAA//8BAFQAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAaAAAApwEAAHsCAAACAEllwwAAAAAA//8CAEkAZQCMAAEAAAAAAIsAAQACAAAAHwCKAAEA
       OgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAP0AAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAewIA
       AHsCAAABAAAAwuCYAAAAAAD//wEAwuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAA0AwAAewIAAAEAT7oA
       AAAAAP//AQBPAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAAIBAAAEQIAAAEAAAA9AFMBAAAAAP//AQA9
       AIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAnAQAAsQIA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABgBQAALAIAAAEAAACe4IcAAAAAAP//AQCe4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABoAAAD/BQAAEQIAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIAAAAf
       AIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAIAAA
       AO0GAAB7AgAABABURnh5/AEAAAAA//8EAFQARgB4AHkAjAABAAAAAACLAAEAAgAAAB8AigAB
       ADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAACTAgAA//8AAAAABQAAAAAAAAD/AwAAAAAA
       AAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAADMJ
       AABGAgAAAQAAAI3g5QAAAAAA//8BAI3gjAABAAAAAACLAAEAAgAAAB8AhQABAAUAAAAAAAAA
       AYQAAQAFAAAAAAAAAACKAAEAOgAAAAIANAAAAAoAU3RhclN5bWJvbAAAIAEAAJMCAAD//wAA
       AAAFAAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAE
       AAAAAAAAAGcAAQAQAAAABgoAADUAAACqEwAARAAAAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5
       AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAA
       AP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAFwAAAFYKAAAR
       AgAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRo
       b3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAA
       AAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgApAAAAkwsAAHsCAAAHAEllSnRJZTG2
       AgAAAAD//wcASQBlAEoAdABJAGUAMQCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAB5CwAAPgEAAAEAMn8A
       AAAAAP//AQAyAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAABDDgAAEQIAAAEAAACD4FMBAAAAAP//AQCD
       4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAALYPAAARAgAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgApAAAADhEAAHsCAAAHAEllSnRJZTK2AgAAAAD//wcASQBlAEoAdABJAGUAMgCMAAEAAAAA
       AIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABcAAADzEAAAPgEAAAEAMn8AAAAAAP//AQAyAIwAAQAAAAAAiwABAAIAAAAfAIoA
       AQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAA
       AAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAC+
       EwAAEQIAAAEAAACD4FMBAAAAAP//AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0
       AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAA
       AIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAAWFQAAEQIAAAEA
       AADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9y
       bmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAAB
       AIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAHQAAAB4WAAB7AgAAAwBURnqFAQAAAAD/
       /wMAVABGAHoAjAABAAAAAACLAAEAAgAAAB8AigABADoAAAACADQAAAAKAFN0YXJTeW1ib2wA
       ACABAAD9AQAA//8AAAAABQAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAF
       AAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAAKsXAAAsAgAAAQAAACMiqQAAAAAA//8BACMi
       jAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAA
       AAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYA
       AQAEAAAAAAAAAHIAAgAXAAAALxgAABECAAABAEb+AAAAAAD//wEARgCMAAEAAAAAAIsAAQAC
       AAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA
       /wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgAC
       ACkAAABtGQAAewIAAAcASWVKdEllM7YCAAAAAP//BwBJAGUASgB0AEkAZQAzAIwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAgAQAA/QEAAP//AAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABoAAAACHAAALAIAAAEAAAAjIqkAAAAAAP//AQAjIowAAQAAAAAAiwABAAIAAAAf
       AIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMA
       AAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoA
       AABsHAAAEQIAAAEAAACD4FMBAAAAAP//AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAA
       AgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/
       AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAADeHQAAEQIA
       AAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBU
       aG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIA
       AAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAIAAAAM0eAAB7AgAABABUVHh5/AEA
       AAAA//8EAFQAVAB4AHkAjAABAAAAAACLAAEAAgAAAB8AigABADoAAAACADQAAAAKAFN0YXJT
       eW1ib2wAACABAACTAgAA//8AAAAABQAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAAB
       AIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAABMhAABGAgAAAQAAAI3g5QAAAAAA
       //8BAI3gjAABAAAAAACLAAEAAgAAAB8AhQABAAUAAAAAAAAAAYQAAQAFAAAAAAAAAACKAAEA
       OgAAAAIANAAAAAoAU3RhclN5bWJvbAAAIAEAAJMCAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAGcAAQAQAAAA5iEA
       ADUAAABGKwAARAAAAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRh
       bGUAAAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcA
       AQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAFwAAAAEiAAARAgAAAQBU7QAAAAAA//8BAFQA
       jAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAA
       AAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYA
       AQAEAAAAAAAAAHIAAgApAAAAPiMAAHsCAAAHAEllSnRJZTG2AgAAAAD//wcASQBlAEoAdABJ
       AGUAMQCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA
       /QAAAAAAAAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP//
       //8AhgABAAQAAAAAAAAAcgACABcAAAA+IwAAPgEAAAEAMn8AAAAAAP//AQAyAIwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABoAAAAJJgAAEQIAAAEAAACD4FMBAAAAAP//AQCD4IwAAQAAAAAAiwABAAIAAAAf
       AIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAFwAA
       AGEnAAARAgAAAQBU7QAAAAAA//8BAFQAjAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMA
       AAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACI
       AAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgApAAAAnigAAHsCAAAHAEll
       SnRJZTK2AgAAAAD//wcASQBlAEoAdABJAGUAMgCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAA
       AAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/
       AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAACEKAAAPgEA
       AAEAMn8AAAAAAP//AQAyAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFy
       U3ltYm9sAAAnAQAAsQIAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAA
       AQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAABpKwAALAIAAAEAAACf4IcAAAAA
       AP//AQCf4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACw
       AQAA9wQAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACABoAAAA8BwAA7QYAAAEAAACe4MsAAAAAAP//AQCe4IwA
       AQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//
       AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgAB
       AAQAAAAAAAAAcgACABoAAABFCAAApwQAAAEAAADO4EoBAAAAAP//AQDO4IwAAQAAAAAAiwAB
       AAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAA
       AgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAABy
       AAIAKQAAAJ0JAAAQBQAABwBJZUplSWUz4QIAAAAA//8HAEkAZQBKAGUASQBlADMAjAABAAAA
       AACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAI
       AAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAA
       AAAAAHIAAgAXAAAAtgwAAKcEAAABAGvlAAAAAAD//wEAawCMAAEAAAAAAIsAAQACAAAAHwCK
       AAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAA
       AAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACAB0AAAC/
       DQAAEAUAAAMASWVPfQEAAAAA//8DAEkAZQBPAIwAAQAAAAAAiwABAAIAAAAfAIUAAQAFAAAA
       AAAAAAGEAAEABQAAAAAAAAAAigABADoAAAACADQAAAAKAFN0YXJTeW1ib2wAAAAAAACnAQAA
       //8AAAAABQAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAABnAAEAEAAAACoIAABgBQAAYA8AAHQFAACMAAEAAAAAAIsAAQACAAAAHwCK
       AAEAOgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAKcBAAD//wAAAAAFAAAAAAAAAP8DAAAA
       AAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAA
       MwkAACIHAAABAAAAzuBKAQAAAAD//wEAzuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIA
       MwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAA
       AIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACACAAAACLCgAAiwcAAAQA
       SWVKZZ8BAAAAAP//BABJAGUASgBlAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAA
       CgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAABNDAAAIgcAAAEAAACD
       4FMBAAAAAP//AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3lt
       Ym9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCH
       AAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAClDQAAIgcAAAEAAAC74MsAAAAAAP//
       AQC74IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACwAQAA
       9wQAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP//
       //8AhgABAAQAAAAAAAAAcgACABoAAACBDwAA7QYAAAEAAACf4MsAAAAAAP//AQCf4IwAAQAA
       AAAAlQABAAQAAAAAAAAAlgABAAIAAAAAAIwAAQAAAAAA
      </office:binary-data>
     </draw:image>
    </draw:frame></text:p>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">Translational Joint Friction</text:h>
   <text:p text:style-name="equation"><draw:frame draw:style-name="fr1" draw:name="Object11" text:anchor-type="as-char" svg:width="4.9319in" svg:height="0.7634in" draw:z-index="10"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mtable>
         <mtr>
          <mtd>
           <mrow>
            <msub>
             <mstyle mathvariant="bold">
              <mi mathvariant="normal">F</mi>
             </mstyle>
             <mrow>
              <mi mathvariant="italic">Ie</mi>
              <mi>μ</mi>
              <mi>O</mi>
             </mrow>
            </msub>
            <mo stretchy="false">=</mo>
            <mrow>
             <mo fence="true" form="prefix" stretchy="true">(</mo>
             <mrow>
              <mrow>
               <msub>
                <mi>μ</mi>
                <mi mathvariant="italic">FFx</mi>
               </msub>
               <mrow>
                <mrow>
                 <mo fence="true" form="prefix" stretchy="true">|</mo>
                 <mrow>
                  <msub>
                   <mi>F</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>1</mn>
                   </mrow>
                  </msub>
                 </mrow>
                 <mo fence="true" form="postfix" stretchy="true">|</mo>
                </mrow>
                <mo stretchy="false">+</mo>
                <msub>
                 <mi>μ</mi>
                 <mi mathvariant="italic">FFy</mi>
                </msub>
               </mrow>
               <mrow>
                <mrow>
                 <mo fence="true" form="prefix" stretchy="true">|</mo>
                 <mrow>
                  <msub>
                   <mi>F</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>2</mn>
                   </mrow>
                  </msub>
                 </mrow>
                 <mo fence="true" form="postfix" stretchy="true">|</mo>
                </mrow>
                <mo stretchy="false">+</mo>
                <msub>
                 <mi>μ</mi>
                 <mi mathvariant="italic">FFz</mi>
                </msub>
               </mrow>
               <mrow>
                <mrow>
                 <mo fence="true" form="prefix" stretchy="true">|</mo>
                 <mrow>
                  <msub>
                   <mi>F</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>3</mn>
                   </mrow>
                  </msub>
                 </mrow>
                 <mo fence="true" form="postfix" stretchy="true">|</mo>
                </mrow>
                <mo stretchy="false">+</mo>
                <msub>
                 <mi>μ</mi>
                 <mi mathvariant="italic">TFx</mi>
                </msub>
               </mrow>
               <mrow>
                <mrow>
                 <mo fence="true" form="prefix" stretchy="true">|</mo>
                 <mrow>
                  <msub>
                   <mi>T</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>1</mn>
                   </mrow>
                  </msub>
                 </mrow>
                 <mo fence="true" form="postfix" stretchy="true">|</mo>
                </mrow>
                <mo stretchy="false">+</mo>
                <msub>
                 <mi>μ</mi>
                 <mi mathvariant="italic">TFy</mi>
                </msub>
               </mrow>
               <mrow>
                <mo fence="true" form="prefix" stretchy="true">|</mo>
                <mrow>
                 <msub>
                  <mi>T</mi>
                  <mrow>
                   <mi mathvariant="italic">IeJtIe</mi>
                   <mn>2</mn>
                  </mrow>
                 </msub>
                </mrow>
                <mo fence="true" form="postfix" stretchy="true">|</mo>
               </mrow>
              </mrow>
             </mrow>
             <mo fence="true" form="postfix" stretchy="true">)</mo>
            </mrow>
           </mrow>
          </mtd>
         </mtr>
         <mtr>
          <mtd>
           <mrow>
            <mtext/>
            <mspace width="18em"/>
            <mrow>
             <mo fence="true" form="prefix" stretchy="true">(</mo>
             <mrow>
              <mfrac>
               <mrow>
                <msub>
                 <mi>v</mi>
                 <mrow>
                  <mi mathvariant="italic">IeJeIe</mi>
                  <mn>3</mn>
                 </mrow>
                </msub>
                <msub>
                 <mstyle mathvariant="bold">
                  <mi mathvariant="normal">k</mi>
                 </mstyle>
                 <mi mathvariant="italic">IeO</mi>
                </msub>
               </mrow>
               <mrow>
                <msub>
                 <mi>v</mi>
                 <mi mathvariant="italic">IeJe</mi>
                </msub>
                <mo stretchy="false">+</mo>
                <mi>ϵ</mi>
               </mrow>
              </mfrac>
             </mrow>
             <mo fence="true" form="postfix" stretchy="true">)</mo>
            </mrow>
           </mrow>
          </mtd>
         </mtr>
        </mtable>
        <annotation encoding="StarMath 5.0">{bold nitalic F}_{Ie{%mu}O}
=
left(
%mu_FFx
abs
{
F_IeJtIe1
}
+
%mu_FFy
abs
{
F_IeJtIe2
}
+
%mu_FFz
abs
{
F_IeJtIe3
}
+
%mu_TFx
abs
{
T_IeJtIe1
}
+
%mu_TFy
abs
{
T_IeJtIe2
}
right)

newline
&quot;&quot;~~~~~~~~~
left(
{v_IeJeIe3 {bold nitalic k}_{IeO}}
over
{v_IeJe + %epsilon}
right)
</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAe8wAACS
       BwAAdQEAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAA7jAAAJEHAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAACnAQAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAaAAAAjQEAABECAAACAEllwwAAAAAA//8CAEkAZQCMAAEAAAAAAIsAAQACAAAAHwCKAAEA
       OgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAP0AAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAewIA
       ABECAAABAAAAwuCYAAAAAAD//wEAwuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAAaAwAAEQIAAAEAT7oA
       AAAAAP//AQBPAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAADtAwAApwEAAAEAAAA9AFMBAAAAAP//AQA9
       AIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAD8AAAARgIA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABFBQAA3AEAAAEAAACe4HcAAAAAAP//AQCe4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABoAAADkBQAApwEAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIAAAAf
       AIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAHQAA
       AO0GAAARAgAAAwBGRniOAQAAAAD//wMARgBGAHgAjAABAAAAAACLAAEAAgAAAB8AigABADoA
       AAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAAAAD/AwAAAAAAAAAA
       AP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAAHoIAADC
       AQAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJ
       AFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEA
       AgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAA/ggAAKcBAAABAEb+AAAA
       AAD//wEARgCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAA
       AAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACACkAAAA7CgAAEQIAAAcASWVKdEllMbYCAAAAAP//BwBJ
       AGUASgB0AEkAZQAxAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3lt
       Ym9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCH
       AAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAADRDAAAwgEAAAEAAAAjIqkAAAAAAP//
       AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAA
       pwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP//
       //8AhgABAAQAAAAAAAAAcgACABoAAAA7DQAApwEAAAEAAACD4FMBAAAAAP//AQCD4IwAAQAA
       AAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAA
       AAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQA
       AAAAAAAAcgACABoAAACtDgAApwEAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIA
       AAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/
       AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIA
       HQAAALYPAAARAgAAAwBGRnmOAQAAAAD//wMARgBGAHkAjAABAAAAAACLAAEAAgAAAB8AigAB
       ADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAAAAD/AwAAAAAA
       AAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAAEMR
       AADCAQAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMA
       AAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACI
       AAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAAxxEAAKcBAAABAEb+
       AAAAAAD//wEARgCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxl
       AAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACACkAAAAfEwAAEQIAAAcASWVKdEllMrYCAAAAAP//
       BwBJAGUASgB0AEkAZQAyAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFy
       U3ltYm9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAA
       AQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAACaFQAAwgEAAAEAAAAjIqkAAAAA
       AP//AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAA
       AAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACABoAAAAeFgAApwEAAAEAAACD4FMBAAAAAP//AQCD4IwA
       AQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//
       AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgAB
       AAQAAAAAAAAAcgACABoAAAB2FwAApwEAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwAB
       AAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAA
       AgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAABy
       AAIAHQAAAH8YAAARAgAAAwBGRnqFAQAAAAD//wMARgBGAHoAjAABAAAAAACLAAEAAgAAAB8A
       igABADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAAAAD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAA
       AAwaAADCAQAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkAAAAC
       ADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMA
       AACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAAkBoAAKcBAAAB
       AEb+AAAAAAD//wEARgCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5k
       YWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCH
       AAEABQAAAP////8AhgABAAQAAAAAAAAAcgACACkAAADNGwAAEQIAAAcASWVKdEllM7YCAAAA
       AP//BwBJAGUASgB0AEkAZQAzAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBT
       dGFyU3ltYm9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQAC
       AAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAABjHgAAwgEAAAEAAAAjIqkA
       AAAAAP//AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAADNHgAApwEAAAEAAACD4FMBAAAAAP//AQCD
       4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAAA/IAAApwEAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAA
       AAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAA
       AAByAAIAHQAAAC0hAAARAgAAAwBURniOAQAAAAD//wMAVABGAHgAjAABAAAAAACLAAEAAgAA
       AB8AigABADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAAAAD/
       AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIA
       GgAAALoiAADCAQAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkA
       AAACADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA
       /wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAAPiMAAKcB
       AAABAFTtAAAAAAD//wEAVACMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhv
       cm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAA
       AQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACACkAAAB8JAAAEQIAAAcASWVKdEllMbYC
       AAAAAP//BwBJAGUASgB0AEkAZQAxAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAA
       CgBTdGFyU3ltYm9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAD3JgAAwgEAAAEAAAAj
       IqkAAAAAAP//AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3lt
       Ym9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCH
       AAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAABhJwAApwEAAAEAAACD4FMBAAAAAP//
       AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAA
       pwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP//
       //8AhgABAAQAAAAAAAAAcgACABoAAADTKAAApwEAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAA
       AAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAA
       BQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAA
       AAAAAAByAAIAHQAAAMEpAAARAgAAAwBURnmOAQAAAAD//wMAVABGAHkAjAABAAAAAACLAAEA
       AgAAAB8AigABADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAA
       AAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAABy
       AAIAGgAAAE4rAADCAQAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigAB
       ADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAA0isA
       AKcBAAABAFTtAAAAAAD//wEAVACMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkA
       VGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQAC
       AAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACACkAAAAQLQAAEQIAAAcASWVKdEll
       MrYCAAAAAP//BwBJAGUASgB0AEkAZQAyAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0
       AAAACgBTdGFyU3ltYm9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAA
       AIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAACLLwAAwgEAAAEA
       AAAjIqkAAAAAAP//AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFy
       U3ltYm9sAAD8AAAARgIAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAA
       AQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAAPMAAA3AEAAAEAAACf4HcAAAAA
       AP//AQCf4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACw
       AQAA9wQAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACABoAAACdBgAAgwYAAAEAAACe4MsAAAAAAP//AQCe4IwA
       AQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAA
       AAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEA
       BAAAAAAAAAByAAIAFwAAAKYHAAA9BAAAAQB2ugAAAAAA//8BAHYAjAABAAAAAACLAAEAAgAA
       AB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8D
       AAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAp
       AAAAlAgAAKcEAAAHAEllSmVJZTPhAgAAAAD//wcASQBlAEoAZQBJAGUAMwCMAAEAAAAAAIsA
       AQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAApwEAAAAAAAAAAAgAAAAA
       AAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAA
       cgACABcAAACTCwAAPQQAAAEAa+UAAAAAAP//AQBrAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5
       AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAA
       AP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAHQAAALYMAACn
       BAAAAwBJZU99AQAAAAD//wMASQBlAE8AjAABAAAAAACLAAEAAgAAAB8AhQABAAUAAAAAAAAA
       AYQAAQAFAAAAAAAAAACKAAEAOgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAKcBAAD//wAA
       AAAFAAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAE
       AAAAAAAAAGcAAQAQAAAAiwcAAPYEAABNDgAACgUAAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5
       AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAA
       AP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAFwAAAJQIAAC4
       BgAAAQB2ugAAAAAA//8BAHYAjAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRo
       b3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAA
       AAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAgAAAAggkAACIHAAAEAEllSmWfAQAA
       AAD//wQASQBlAEoAZQCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOgAAAAIANAAAAAoAU3RhclN5
       bWJvbAAAAAAAAKcBAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEA
       hwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAKgsAALgGAAABAAAAg+BTAQAAAAD/
       /wEAg+CMAAEAAAAAAIsAAQACAAAAHwCKAAEAOgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAA
       AKcBAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/
       ////AIYAAQAEAAAAAAAAAHIAAgAaAAAAgQwAALgGAAABAAAAu+DLAAAAAAD//wEAu+CMAAEA
       AAAAAIsAAQACAAAAHwCKAAEAOgAAAAIANAAAAAoAU3RhclN5bWJvbAAAsAEAAPcEAAD//wAA
       AAAFAAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAE
       AAAAAAAAAHIAAgAaAAAAXg4AAIMGAAABAAAAn+DLAAAAAAD//wEAn+CMAAEAAAAAAJUAAQAE
       AAAAAAAAAJYAAQACAAAAAACMAAEAAAAAAA==
      </office:binary-data>
     </draw:image>
    </draw:frame></text:p>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">Cylindrical Joint Friction</text:h>
   <text:p text:style-name="equation"><draw:frame draw:style-name="fr1" draw:name="Object12" text:anchor-type="as-char" svg:width="3.6008in" svg:height="0.8035in" draw:z-index="11"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mtable>
         <mtr>
          <mtd>
           <mrow>
            <msub>
             <mstyle mathvariant="bold">
              <mi mathvariant="normal">F</mi>
             </mstyle>
             <mrow>
              <mi mathvariant="italic">Ie</mi>
              <mi>μ</mi>
              <mi>O</mi>
             </mrow>
            </msub>
            <mo stretchy="false">=</mo>
            <mrow>
             <mo fence="true" form="prefix" stretchy="true">(</mo>
             <mrow>
              <mrow>
               <msub>
                <mi>μ</mi>
                <mi mathvariant="italic">FFxy</mi>
               </msub>
               <mrow>
                <msqrt>
                 <mrow>
                  <msubsup>
                   <mi>F</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>1</mn>
                   </mrow>
                   <mn>2</mn>
                  </msubsup>
                  <mo stretchy="false">+</mo>
                  <msubsup>
                   <mi>F</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>2</mn>
                   </mrow>
                   <mn>2</mn>
                  </msubsup>
                 </mrow>
                </msqrt>
                <mo stretchy="false">+</mo>
                <msub>
                 <mi>μ</mi>
                 <mi mathvariant="italic">FTxy</mi>
                </msub>
               </mrow>
               <msqrt>
                <mrow>
                 <msubsup>
                  <mi>T</mi>
                  <mrow>
                   <mi mathvariant="italic">IeJtIe</mi>
                   <mn>1</mn>
                  </mrow>
                  <mn>2</mn>
                 </msubsup>
                 <mo stretchy="false">+</mo>
                 <msubsup>
                  <mi>T</mi>
                  <mrow>
                   <mi mathvariant="italic">IeJtIe</mi>
                   <mn>2</mn>
                  </mrow>
                  <mn>2</mn>
                 </msubsup>
                </mrow>
               </msqrt>
              </mrow>
             </mrow>
             <mo fence="true" form="postfix" stretchy="true">)</mo>
            </mrow>
           </mrow>
          </mtd>
         </mtr>
         <mtr>
          <mtd>
           <mrow>
            <mtext/>
            <mspace width="20em"/>
            <mrow>
             <mo fence="true" form="prefix" stretchy="true">(</mo>
             <mrow>
              <mfrac>
               <mrow>
                <msub>
                 <mi>v</mi>
                 <mrow>
                  <mi mathvariant="italic">IeJeIe</mi>
                  <mn>3</mn>
                 </mrow>
                </msub>
                <msub>
                 <mstyle mathvariant="bold">
                  <mi mathvariant="normal">k</mi>
                 </mstyle>
                 <mi mathvariant="italic">IeO</mi>
                </msub>
               </mrow>
               <mrow>
                <msub>
                 <mi>v</mi>
                 <mi mathvariant="italic">IeJe</mi>
                </msub>
                <mo stretchy="false">+</mo>
                <mi>ϵ</mi>
               </mrow>
              </mfrac>
             </mrow>
             <mo fence="true" form="postfix" stretchy="true">)</mo>
            </mrow>
           </mrow>
          </mtd>
         </mtr>
        </mtable>
        <annotation encoding="StarMath 5.0">{bold nitalic F}_{Ie{%mu}O}
=
left(
%mu_FFxy
sqrt 
{
F^2_IeJtIe1
+
F^2_IeJtIe2
}
+
%mu_FTxy
sqrt 
{
T^2_IeJtIe1
+
T^2_IeJtIe2
}
right)

newline
&quot;&quot;~~~~~~~~~~
left(
{v_IeJeIe3 {bold nitalic k}_{IeO}}
over
{v_IeJe + %epsilon}
right)
</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAbkjAAD5
       BwAALAEAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAuCMAAPgHAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAAARAgAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAaAAAAjQEAAHsCAAACAEllwwAAAAAA//8CAEkAZQCMAAEAAAAAAIsAAQACAAAAHwCKAAEA
       OgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAP0AAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAewIA
       AHsCAAABAAAAwuCYAAAAAAD//wEAwuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAAaAwAAewIAAAEAT7oA
       AAAAAP//AQBPAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAADtAwAAEQIAAAEAAAA9AFMBAAAAAP//AQA9
       AIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAmAQAArwIA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABFBQAALAIAAAEAAACe4IcAAAAAAP//AQCe4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABoAAADkBQAAEQIAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIAAAAf
       AIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAIAAA
       AO0GAAB7AgAABABGRnh5/AEAAAAA//8EAEYARgB4AHkAjAABAAAAAACLAAEAAgAAAB8AigAB
       ADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAACTAgAA//8AAAAABQAAAAAAAAD/AwAAAAAA
       AAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAADMJ
       AABGAgAAAQAAAI3g5QAAAAAA//8BAI3gjAABAAAAAACLAAEAAgAAAB8AhQABAAUAAAAAAAAA
       AYQAAQAFAAAAAAAAAACKAAEAOgAAAAIANAAAAAoAU3RhclN5bWJvbAAAIAEAAJMCAAD//wAA
       AAAFAAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAE
       AAAAAAAAAGcAAQAQAAAABgoAADUAAACqEwAARAAAAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5
       AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAA
       AP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAFwAAAFYKAAAR
       AgAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRo
       b3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAA
       AAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgApAAAAkwsAAHsCAAAHAEllSnRJZTG2
       AgAAAAD//wcASQBlAEoAdABJAGUAMQCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAB5CwAAPgEAAAEAMn8A
       AAAAAP//AQAyAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAABDDgAAEQIAAAEAAACD4FMBAAAAAP//AQCD
       4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAANAPAAARAgAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgApAAAADhEAAHsCAAAHAEllSnRJZTK2AgAAAAD//wcASQBlAEoAdABJAGUAMgCMAAEAAAAA
       AIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABcAAADzEAAAPgEAAAEAMn8AAAAAAP//AQAyAIwAAQAAAAAAiwABAAIAAAAfAIoA
       AQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAA
       AAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAC+
       EwAAEQIAAAEAAACD4FMBAAAAAP//AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0
       AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAA
       AIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAAwFQAAEQIAAAEA
       AADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9y
       bmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAAB
       AIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAIAAAADkWAAB7AgAABABGVHh5/AEAAAAA
       //8EAEYAVAB4AHkAjAABAAAAAACLAAEAAgAAAB8AigABADoAAAACADQAAAAKAFN0YXJTeW1i
       b2wAACABAACTAgAA//8AAAAABQAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcA
       AQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAAGQYAABGAgAAAQAAAI3g5QAAAAAA//8B
       AI3gjAABAAAAAACLAAEAAgAAAB8AhQABAAUAAAAAAAAAAYQAAQAFAAAAAAAAAACKAAEAOgAA
       AAIANAAAAAoAU3RhclN5bWJvbAAAIAEAAJMCAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAAAAAA
       /wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAGcAAQAQAAAAUhkAADUA
       AACyIgAARAAAAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUA
       AAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAF
       AAAA/////wCGAAEABAAAAAAAAAByAAIAFwAAAG0ZAAARAgAAAQBU7QAAAAAA//8BAFQAjAAB
       AAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAA
       AAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAE
       AAAAAAAAAHIAAgApAAAAqhoAAHsCAAAHAEllSnRJZTG2AgAAAAD//wcASQBlAEoAdABJAGUA
       MQCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAA
       AAAAAAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABcAAACqGgAAPgEAAAEAMn8AAAAAAP//AQAyAIwAAQAAAAAAiwAB
       AAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAA
       AAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAA
       cgACABoAAAB1HQAAEQIAAAEAAACD4FMBAAAAAP//AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoA
       AQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAAAAAA
       AAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAFwAAAM0e
       AAARAgAAAQBU7QAAAAAA//8BAFQAjAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJ
       AFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEA
       AgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgApAAAACiAAAHsCAAAHAEllSnRJ
       ZTK2AgAAAAD//wcASQBlAEoAdABJAGUAMgCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIA
       MwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAA
       AIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAADwHwAAPgEAAAEA
       Mn8AAAAAAP//AQAyAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3lt
       Ym9sAAAmAQAArwIAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCH
       AAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAADUIgAALAIAAAEAAACf4IcAAAAAAP//
       AQCf4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACwAQAA
       9wQAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP//
       //8AhgABAAQAAAAAAAAAcgACABoAAAA8BwAA0gYAAAEAAACe4MsAAAAAAP//AQCe4IwAAQAA
       AAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAA
       BQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAA
       AAAAAAByAAIAFwAAAEUIAACnBAAAAQB2ugAAAAAA//8BAHYAjAABAAAAAACLAAEAAgAAAB8A
       igABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAA
       AAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgApAAAA
       MwkAABAFAAAHAEllSmVJZTPhAgAAAAD//wcASQBlAEoAZQBJAGUAMwCMAAEAAAAAAIsAAQAC
       AAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAApwEAAAAAAAAAAAgAAAAAAAAA
       /wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgAC
       ABcAAABNDAAApwQAAAEAa+UAAAAAAP//AQBrAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAA
       AgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8D
       AAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAHQAAAFUNAAAQBQAA
       AwBJZU99AQAAAAD//wMASQBlAE8AjAABAAAAAACLAAEAAgAAAB8AhQABAAUAAAAAAAAAAYQA
       AQAFAAAAAAAAAACKAAEAOgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAKcBAAD//wAAAAAF
       AAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAA
       AAAAAGcAAQAQAAAAKggAAGAFAADsDgAAdAUAAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAA
       AgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8D
       AAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAFwAAADMJAAAHBwAA
       AQB2ugAAAAAA//8BAHYAjAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRob3Ju
       ZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEA
       hwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAgAAAAIQoAAIsHAAAEAEllSmWfAQAAAAD/
       /wQASQBlAEoAZQCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOgAAAAIANAAAAAoAU3RhclN5bWJv
       bAAAAAAAAKcBAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwAB
       AAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAyAsAAAcHAAABAAAAg+BTAQAAAAD//wEA
       g+CMAAEAAAAAAIsAAQACAAAAHwCKAAEAOgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAKcB
       AAD//wAAAAAFAAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////
       AIYAAQAEAAAAAAAAAHIAAgAaAAAAIA0AAAcHAAABAAAAu+DLAAAAAAD//wEAu+CMAAEAAAAA
       AIsAAQACAAAAHwCKAAEAOgAAAAIANAAAAAoAU3RhclN5bWJvbAAAsAEAAPcEAAD//wAAAAAF
       AAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAA
       AAAAAHIAAgAaAAAAFw8AANIGAAABAAAAn+DLAAAAAAD//wEAn+CMAAEAAAAAAJUAAQAEAAAA
       AAAAAJYAAQACAAAAAACMAAEAAAAAAA==
      </office:binary-data>
     </draw:image>
    </draw:frame></text:p>
   <text:p text:style-name="equation"><draw:frame draw:style-name="fr1" draw:name="Object13" text:anchor-type="as-char" svg:width="3.5925in" svg:height="0.8035in" draw:z-index="12"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mtable>
         <mtr>
          <mtd>
           <mrow>
            <msub>
             <mstyle mathvariant="bold">
              <mi mathvariant="normal">T</mi>
             </mstyle>
             <mrow>
              <mi mathvariant="italic">Ie</mi>
              <mi>μ</mi>
              <mi>O</mi>
             </mrow>
            </msub>
            <mo stretchy="false">=</mo>
            <mrow>
             <mo fence="true" form="prefix" stretchy="true">(</mo>
             <mrow>
              <mrow>
               <msub>
                <mi>μ</mi>
                <mi mathvariant="italic">TFxy</mi>
               </msub>
               <mrow>
                <msqrt>
                 <mrow>
                  <msubsup>
                   <mi>F</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>1</mn>
                   </mrow>
                   <mn>2</mn>
                  </msubsup>
                  <mo stretchy="false">+</mo>
                  <msubsup>
                   <mi>F</mi>
                   <mrow>
                    <mi mathvariant="italic">IeJtIe</mi>
                    <mn>2</mn>
                   </mrow>
                   <mn>2</mn>
                  </msubsup>
                 </mrow>
                </msqrt>
                <mo stretchy="false">+</mo>
                <msub>
                 <mi>μ</mi>
                 <mi mathvariant="italic">TTxy</mi>
                </msub>
               </mrow>
               <msqrt>
                <mrow>
                 <msubsup>
                  <mi>T</mi>
                  <mrow>
                   <mi mathvariant="italic">IeJtIe</mi>
                   <mn>1</mn>
                  </mrow>
                  <mn>2</mn>
                 </msubsup>
                 <mo stretchy="false">+</mo>
                 <msubsup>
                  <mi>T</mi>
                  <mrow>
                   <mi mathvariant="italic">IeJtIe</mi>
                   <mn>2</mn>
                  </mrow>
                  <mn>2</mn>
                 </msubsup>
                </mrow>
               </msqrt>
              </mrow>
             </mrow>
             <mo fence="true" form="postfix" stretchy="true">)</mo>
            </mrow>
           </mrow>
          </mtd>
         </mtr>
         <mtr>
          <mtd>
           <mrow>
            <mtext/>
            <mspace width="20em"/>
            <mrow>
             <mo fence="true" form="prefix" stretchy="true">(</mo>
             <mrow>
              <mfrac>
               <mrow>
                <msub>
                 <mi>ω</mi>
                 <mrow>
                  <mi mathvariant="italic">IeJeIe</mi>
                  <mn>3</mn>
                 </mrow>
                </msub>
                <msub>
                 <mstyle mathvariant="bold">
                  <mi mathvariant="normal">k</mi>
                 </mstyle>
                 <mi mathvariant="italic">IeO</mi>
                </msub>
               </mrow>
               <mrow>
                <msub>
                 <mi>ω</mi>
                 <mi mathvariant="italic">IeJe</mi>
                </msub>
                <mo stretchy="false">+</mo>
                <mi>ϵ</mi>
               </mrow>
              </mfrac>
             </mrow>
             <mo fence="true" form="postfix" stretchy="true">)</mo>
            </mrow>
           </mrow>
          </mtd>
         </mtr>
        </mtable>
        <annotation encoding="StarMath 5.0">{bold nitalic T}_{Ie{%mu}O}
=
left(
%mu_TFxy
sqrt 
{
F^2_IeJtIe1
+
F^2_IeJtIe2
}
+
%mu_TTxy
sqrt 
{
T^2_IeJtIe1
+
T^2_IeJtIe2
}
right)

newline
&quot;&quot;~~~~~~~~~~
left(
{%omega_IeJeIe3 {bold nitalic k}_{IeO}}
over
{%omega_IeJe + %epsilon}
right)
</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAaQjAAD5
       BwAALAEAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAoyMAAPgHAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAAARAgAAAQBUFwEAAAAA//8BAFQAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAaAAAApwEAAHsCAAACAEllwwAAAAAA//8CAEkAZQCMAAEAAAAAAIsAAQACAAAAHwCKAAEA
       OgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAP0AAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAewIA
       AHsCAAABAAAAwuCYAAAAAAD//wEAwuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAA0AwAAewIAAAEAT7oA
       AAAAAP//AQBPAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAAIBAAAEQIAAAEAAAA9AFMBAAAAAP//AQA9
       AIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAmAQAArwIA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABgBQAALAIAAAEAAACe4IcAAAAAAP//AQCe4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABoAAAD/BQAAEQIAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIAAAAf
       AIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAIAAA
       AO0GAAB7AgAABABURnh5/AEAAAAA//8EAFQARgB4AHkAjAABAAAAAACLAAEAAgAAAB8AigAB
       ADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAACTAgAA//8AAAAABQAAAAAAAAD/AwAAAAAA
       AAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAADMJ
       AABGAgAAAQAAAI3g5QAAAAAA//8BAI3gjAABAAAAAACLAAEAAgAAAB8AhQABAAUAAAAAAAAA
       AYQAAQAFAAAAAAAAAACKAAEAOgAAAAIANAAAAAoAU3RhclN5bWJvbAAAIAEAAJMCAAD//wAA
       AAAFAAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAE
       AAAAAAAAAGcAAQAQAAAABgoAADUAAACqEwAARAAAAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5
       AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAA
       AP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAFwAAAFYKAAAR
       AgAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRo
       b3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAA
       AAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgApAAAAkwsAAHsCAAAHAEllSnRJZTG2
       AgAAAAD//wcASQBlAEoAdABJAGUAMQCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAB5CwAAPgEAAAEAMn8A
       AAAAAP//AQAyAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAABDDgAAEQIAAAEAAACD4FMBAAAAAP//AQCD
       4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAANAPAAARAgAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgApAAAADhEAAHsCAAAHAEllSnRJZTK2AgAAAAD//wcASQBlAEoAdABJAGUAMgCMAAEAAAAA
       AIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABcAAADzEAAAPgEAAAEAMn8AAAAAAP//AQAyAIwAAQAAAAAAiwABAAIAAAAfAIoA
       AQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAA
       AAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAC+
       EwAAEQIAAAEAAACD4FMBAAAAAP//AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0
       AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAA
       AIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAAWFQAAEQIAAAEA
       AADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9y
       bmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAAB
       AIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAIAAAAB4WAAB7AgAABABUVHh5/AEAAAAA
       //8EAFQAVAB4AHkAjAABAAAAAACLAAEAAgAAAB8AigABADoAAAACADQAAAAKAFN0YXJTeW1i
       b2wAACABAACTAgAA//8AAAAABQAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcA
       AQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAAGQYAABGAgAAAQAAAI3g5QAAAAAA//8B
       AI3gjAABAAAAAACLAAEAAgAAAB8AhQABAAUAAAAAAAAAAYQAAQAFAAAAAAAAAACKAAEAOgAA
       AAIANAAAAAoAU3RhclN5bWJvbAAAIAEAAJMCAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAAAAAA
       /wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAGcAAQAQAAAAOBkAADUA
       AACYIgAARAAAAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUA
       AAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAF
       AAAA/////wCGAAEABAAAAAAAAAByAAIAFwAAAFIZAAARAgAAAQBU7QAAAAAA//8BAFQAjAAB
       AAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAA
       AAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAE
       AAAAAAAAAHIAAgApAAAAkBoAAHsCAAAHAEllSnRJZTG2AgAAAAD//wcASQBlAEoAdABJAGUA
       MQCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAA
       AAAAAAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABcAAACQGgAAPgEAAAEAMn8AAAAAAP//AQAyAIwAAQAAAAAAiwAB
       AAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAA
       AAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAA
       cgACABoAAABaHQAAEQIAAAEAAACD4FMBAAAAAP//AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoA
       AQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAABQAAAAAAAgD/AwAAAAAA
       AAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAFwAAALIe
       AAARAgAAAQBU7QAAAAAA//8BAFQAjAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJ
       AFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEA
       AgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgApAAAA8B8AAHsCAAAHAEllSnRJ
       ZTK2AgAAAAD//wcASQBlAEoAdABJAGUAMgCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIA
       MwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAA
       AIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAADVHwAAPgEAAAEA
       Mn8AAAAAAP//AQAyAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3lt
       Ym9sAAAmAQAArwIAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCH
       AAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAC6IgAALAIAAAEAAACf4IcAAAAAAP//
       AQCf4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACwAQAA
       9wQAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP//
       //8AhgABAAQAAAAAAAAAcgACABoAAAA8BwAA0gYAAAEAAACe4MsAAAAAAP//AQCe4IwAAQAA
       AAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAA
       AAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQA
       AAAAAAAAcgACABoAAABFCAAApwQAAAEAAADO4EoBAAAAAP//AQDO4IwAAQAAAAAAiwABAAIA
       AAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/
       AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIA
       KQAAAJ0JAAAQBQAABwBJZUplSWUz4QIAAAAA//8HAEkAZQBKAGUASQBlADMAjAABAAAAAACL
       AAEAAgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAIAAAA
       AAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAA
       AHIAAgAXAAAAtgwAAKcEAAABAGvlAAAAAAD//wEAawCMAAEAAAAAAIsAAQACAAAAHwCKAAEA
       OQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAA
       AAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACAB0AAAC/DQAA
       EAUAAAMASWVPfQEAAAAA//8DAEkAZQBPAIwAAQAAAAAAiwABAAIAAAAfAIUAAQAFAAAAAAAA
       AAGEAAEABQAAAAAAAAAAigABADoAAAACADQAAAAKAFN0YXJTeW1ib2wAAAAAAACnAQAA//8A
       AAAABQAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEA
       BAAAAAAAAABnAAEAEAAAACoIAABgBQAAYA8AAHQFAACMAAEAAAAAAIsAAQACAAAAHwCKAAEA
       OgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAKcBAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAMwkA
       AAcHAAABAAAAzuBKAQAAAAD//wEAzuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACACAAAACLCgAAiwcAAAQASWVK
       ZZ8BAAAAAP//BABJAGUASgBlAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBT
       dGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQAC
       AAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAABNDAAABwcAAAEAAACD4FMB
       AAAAAP//AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAClDQAABwcAAAEAAAC74MsAAAAAAP//AQC7
       4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACwAQAA9wQA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAACBDwAA0gYAAAEAAACf4MsAAAAAAP//AQCf4IwAAQAAAAAA
       lQABAAQAAAAAAAAAlgABAAIAAAAAAIwAAQAAAAAA
      </office:binary-data>
     </draw:image>
    </draw:frame></text:p>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">Spherical Joint Friction</text:h>
   <text:p text:style-name="equation"><draw:frame draw:style-name="fr1" draw:name="Object14" text:anchor-type="as-char" svg:width="2.0134in" svg:height="0.511in" draw:z-index="13"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mrow>
         <mrow>
          <msub>
           <mstyle mathvariant="bold">
            <mi mathvariant="normal">T</mi>
           </mstyle>
           <mrow>
            <mi mathvariant="italic">Ie</mi>
            <mi>μ</mi>
            <mi>O</mi>
           </mrow>
          </msub>
          <mo stretchy="false">=</mo>
          <msub>
           <mi>μ</mi>
           <mi mathvariant="italic">TFO</mi>
          </msub>
         </mrow>
         <mrow>
          <mo fence="true" form="prefix" stretchy="true">|</mo>
          <mrow>
           <msub>
            <mstyle mathvariant="bold">
             <mi mathvariant="normal">F</mi>
            </mstyle>
            <mi mathvariant="italic">IeJtO</mi>
           </msub>
          </mrow>
          <mo fence="true" form="postfix" stretchy="true">|</mo>
         </mrow>
         <mrow>
          <mo fence="true" form="prefix" stretchy="true">(</mo>
          <mrow>
           <mfrac>
            <msub>
             <mstyle mathvariant="bold">
              <mi mathvariant="normal">ω</mi>
             </mstyle>
             <mi mathvariant="italic">IeJeO</mi>
            </msub>
            <mrow>
             <msub>
              <mi>ω</mi>
              <mi mathvariant="italic">IeJe</mi>
             </msub>
             <mo stretchy="false">+</mo>
             <mi>ϵ</mi>
            </mrow>
           </mfrac>
          </mrow>
          <mo fence="true" form="postfix" stretchy="true">)</mo>
         </mrow>
        </mrow>
        <annotation encoding="StarMath 5.0">{bold nitalic T}_{Ie{%mu}O}
=
%mu_TFO
abs
{
{bold nitalic F}_{IeJtO}
}
left(
{bold nitalic %omega}_IeJeO
over
{%omega_IeJe + %epsilon}
right)
</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAfkTAAAT
       BQAAlQAAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAA+BMAABIFAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAAD/AgAAAQBUFwEAAAAA//8BAFQAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAaAAAApwEAAGkDAAACAEllwwAAAAAA//8CAEkAZQCMAAEAAAAAAIsAAQACAAAAHwCKAAEA
       OgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAP0AAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAewIA
       AGkDAAABAAAAwuCYAAAAAAD//wEAwuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAA0AwAAaQMAAAEAT7oA
       AAAAAP//AQBPAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAAIBAAA/wIAAAEAAAA9AFMBAAAAAP//AQA9
       AIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABgBQAA/wIAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAA
       AAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAA
       AAByAAIAHQAAAGgGAABpAwAAAwBURk/aAQAAAAD//wMAVABGAE8AjAABAAAAAACLAAEAAgAA
       AB8AigABADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAAAFAgAA//8AAAAABQAAAAAAAAD/
       AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIA
       GgAAAEUIAAA0AwAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkA
       AAACADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAIAAAAAAAAAP8DAAAAAAAAAAAA
       /wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAArwgAAP8C
       AAABAEb+AAAAAAD//wEARgCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhv
       cm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAA
       AQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACACMAAADSCQAAaQMAAAUASWVKdE8vAgAA
       AAD//wUASQBlAEoAdABPAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFy
       U3ltYm9sAAAgAQAABQIAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAA
       AQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAADjCwAANAMAAAEAAAAjIqkAAAAA
       AP//AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACw
       AQAA9wQAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACABoAAABnDAAA7QMAAAEAAACe4MsAAAAAAP//AQCe4IwA
       AQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//
       AAAAAAgAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgAB
       AAQAAAAAAAAAcgACABoAAAAODgAAwgEAAAEAAADO4FMBAAAAAP//AQDO4IwAAQAAAAAAiwAB
       AAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAA
       AgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAABy
       AAIAIwAAAIEPAAAsAgAABQBJZUplT1kCAAAAAP//BQBJAGUASgBlAE8AjAABAAAAAACLAAEA
       AgAAAB8AhQABAAUAAAAAAAAAAYQAAQAFAAAAAAAAAACKAAEAOgAAAAIANAAAAAoAU3RhclN5
       bWJvbAAAAAAAAKcBAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEA
       hwABAAUAAAD/////AIYAAQAEAAAAAAAAAGcAAQAQAAAAVQ0AAHsCAAC3EgAAjwIAAIwAAQAA
       AAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAA
       AAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQA
       AAAAAAAAcgACABoAAABVDQAAIgQAAAEAAADO4EoBAAAAAP//AQDO4IwAAQAAAAAAiwABAAIA
       AAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/
       AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIA
       IAAAAMgOAACnBAAABABJZUplnwEAAAAA//8EAEkAZQBKAGUAjAABAAAAAACLAAEAAgAAAB8A
       igABADoAAAACADQAAAAKAFN0YXJTeW1ib2wAAAAAAACnAQAA//8AAAAABQAAAAAAAAD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAA
       AG8QAAAiBAAAAQAAAIPgUwEAAAAA//8BAIPgjAABAAAAAACLAAEAAgAAAB8AigABADoAAAAC
       ADQAAAAKAFN0YXJTeW1ib2wAAAAAAACnAQAA//8AAAAABQAAAAAAAAD/AwAAAAAAAAAAAP8D
       AAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAAMcRAAAiBAAA
       AQAAALvgywAAAAAA//8BALvgjAABAAAAAACLAAEAAgAAAB8AigABADoAAAACADQAAAAKAFN0
       YXJTeW1ib2wAALABAAD3BAAA//8AAAAABQAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIA
       AAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAAM8SAADtAwAAAQAAAJ/gywAA
       AAAA//8BAJ/gjAABAAAAAACVAAEABAAAAAAAAACWAAEAAgAAAAAAjAABAAAAAAA=
      </office:binary-data>
     </draw:image>
    </draw:frame></text:p>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">Planar Joint Friction</text:h>
   <text:p text:style-name="Standard">Marker Ie must be on the smaller moving plane. The location should be at the friction force center of the moving plane.</text:p>
   <text:p text:style-name="equation"><draw:frame draw:style-name="fr1" draw:name="Object15" text:anchor-type="as-char" svg:width="4.7571in" svg:height="0.511in" draw:z-index="14"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mrow>
         <mrow>
          <msub>
           <mstyle mathvariant="bold">
            <mi mathvariant="normal">F</mi>
           </mstyle>
           <mrow>
            <mi mathvariant="italic">Ie</mi>
            <mi>μ</mi>
            <mi>O</mi>
           </mrow>
          </msub>
          <mo stretchy="false">=</mo>
          <mrow>
           <mo fence="true" form="prefix" stretchy="true">(</mo>
           <mrow>
            <mrow>
             <msub>
              <mi>μ</mi>
              <mi mathvariant="italic">FFz</mi>
             </msub>
             <mrow>
              <mrow>
               <mo fence="true" form="prefix" stretchy="true">|</mo>
               <mrow>
                <msub>
                 <mi>F</mi>
                 <mrow>
                  <mi mathvariant="italic">IeJtIe</mi>
                  <mn>3</mn>
                 </mrow>
                </msub>
               </mrow>
               <mo fence="true" form="postfix" stretchy="true">|</mo>
              </mrow>
              <mo stretchy="false">+</mo>
              <msub>
               <mi>μ</mi>
               <mi mathvariant="italic">TFx</mi>
              </msub>
             </mrow>
             <mrow>
              <mrow>
               <mo fence="true" form="prefix" stretchy="true">|</mo>
               <mrow>
                <msub>
                 <mi>T</mi>
                 <mrow>
                  <mi mathvariant="italic">IeJtIe</mi>
                  <mn>1</mn>
                 </mrow>
                </msub>
               </mrow>
               <mo fence="true" form="postfix" stretchy="true">|</mo>
              </mrow>
              <mo stretchy="false">+</mo>
              <msub>
               <mi>μ</mi>
               <mi mathvariant="italic">TFy</mi>
              </msub>
             </mrow>
             <mrow>
              <mo fence="true" form="prefix" stretchy="true">|</mo>
              <mrow>
               <msub>
                <mi>T</mi>
                <mrow>
                 <mi mathvariant="italic">IeJtIe</mi>
                 <mn>2</mn>
                </mrow>
               </msub>
              </mrow>
              <mo fence="true" form="postfix" stretchy="true">|</mo>
             </mrow>
            </mrow>
           </mrow>
           <mo fence="true" form="postfix" stretchy="true">)</mo>
          </mrow>
         </mrow>
         <mrow>
          <mo fence="true" form="prefix" stretchy="true">(</mo>
          <mrow>
           <mfrac>
            <mrow>
             <msub>
              <mi>v</mi>
              <mrow>
               <mi mathvariant="italic">IeJeIe</mi>
               <mn>1</mn>
              </mrow>
             </msub>
             <mrow>
              <msub>
               <mstyle mathvariant="bold">
                <mi mathvariant="normal">i</mi>
               </mstyle>
               <mi mathvariant="italic">IeO</mi>
              </msub>
              <mo stretchy="false">+</mo>
              <msub>
               <mi>v</mi>
               <mrow>
                <mi mathvariant="italic">IeJeIe</mi>
                <mn>2</mn>
               </mrow>
              </msub>
             </mrow>
             <msub>
              <mstyle mathvariant="bold">
               <mi mathvariant="normal">j</mi>
              </mstyle>
              <mi mathvariant="italic">IeO</mi>
             </msub>
            </mrow>
            <mrow>
             <msub>
              <mi>v</mi>
              <mi mathvariant="italic">IeJe</mi>
             </msub>
             <mo stretchy="false">+</mo>
             <mi>ϵ</mi>
            </mrow>
           </mfrac>
          </mrow>
          <mo fence="true" form="postfix" stretchy="true">)</mo>
         </mrow>
        </mrow>
        <annotation encoding="StarMath 5.0">{bold nitalic F}_{Ie{%mu}O}
=
left(
%mu_FFz
abs
{
F_IeJtIe3
}
+
%mu_TFx
abs
{
T_IeJtIe1
}
+
%mu_TFy
abs
{
T_IeJtIe2
}
right)
left(
{v_IeJeIe1 {bold nitalic i}_IeO
+
v_IeJeIe2 {bold nitalic j}_IeO}
over
{v_IeJe + %epsilon}
right)
</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAATIvAAAT
       BQAANgEAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAMS8AABIFAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAAD/AgAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAaAAAAjQEAAGkDAAACAEllwwAAAAAA//8CAEkAZQCMAAEAAAAAAIsAAQACAAAAHwCKAAEA
       OgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAP0AAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAewIA
       AGkDAAABAAAAwuCYAAAAAAD//wEAwuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAAaAwAAaQMAAAEAT7oA
       AAAAAP//AQBPAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAADtAwAA/wIAAAEAAAA9AFMBAAAAAP//AQA9
       AIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAD8AAAARgIA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABFBQAANAMAAAEAAACe4HcAAAAAAP//AQCe4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABoAAADkBQAA/wIAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIAAAAf
       AIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAHQAA
       AO0GAABpAwAAAwBGRnqFAQAAAAD//wMARgBGAHoAjAABAAAAAACLAAEAAgAAAB8AigABADoA
       AAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAAAAD/AwAAAAAAAAAA
       AP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAAHoIAAA0
       AwAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJ
       AFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEA
       AgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAA/ggAAP8CAAABAEb+AAAA
       AAD//wEARgCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAA
       AAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACACkAAAA7CgAAaQMAAAcASWVKdEllM7YCAAAAAP//BwBJ
       AGUASgB0AEkAZQAzAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3lt
       Ym9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCH
       AAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAC2DAAANAMAAAEAAAAjIqkAAAAAAP//
       AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAA
       pwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP//
       //8AhgABAAQAAAAAAAAAcgACABoAAAA7DQAA/wIAAAEAAACD4FMBAAAAAP//AQCD4IwAAQAA
       AAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAA
       AAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQA
       AAAAAAAAcgACABoAAACTDgAA/wIAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIA
       AAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/
       AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIA
       HQAAAJsPAABpAwAAAwBURniOAQAAAAD//wMAVABGAHgAjAABAAAAAACLAAEAAgAAAB8AigAB
       ADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAAAAD/AwAAAAAA
       AAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAACgR
       AAA0AwAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMA
       AAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACI
       AAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAAkhEAAP8CAAABAFTt
       AAAAAAD//wEAVACMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxl
       AAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACACkAAADPEgAAaQMAAAcASWVKdEllMbYCAAAAAP//
       BwBJAGUASgB0AEkAZQAxAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFy
       U3ltYm9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAA
       AQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAABKFQAANAMAAAEAAAAjIqkAAAAA
       AP//AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAA
       AAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACABoAAADPFQAA/wIAAAEAAACD4FMBAAAAAP//AQCD4IwA
       AQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//
       AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgAB
       AAQAAAAAAAAAcgACABoAAAAnFwAA/wIAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwAB
       AAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAA
       AgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAABy
       AAIAHQAAAC8YAABpAwAAAwBURnmOAQAAAAD//wMAVABGAHkAjAABAAAAAACLAAEAAgAAAB8A
       igABADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAAAAD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAA
       ALwZAAA0AwAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkAAAAC
       ADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMA
       AACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAAJhoAAP8CAAAB
       AFTtAAAAAAD//wEAVACMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5k
       YWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCH
       AAEABQAAAP////8AhgABAAQAAAAAAAAAcgACACkAAABjGwAAaQMAAAcASWVKdEllMrYCAAAA
       AP//BwBJAGUASgB0AEkAZQAyAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBT
       dGFyU3ltYm9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQAC
       AAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAD5HQAANAMAAAEAAAAjIqkA
       AAAAAP//AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAD8AAAARgIAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAB9HgAANAMAAAEAAACf4HcAAAAAAP//AQCf
       4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACwAQAA9wQA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAAACHwAA7QMAAAEAAACe4MsAAAAAAP//AQCe4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAAAAAAAAAABQAA
       AAAAAgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAA
       AAByAAIAFwAAAAogAADCAQAAAQB2ugAAAAAA//8BAHYAjAABAAAAAACLAAEAAgAAAB8AigAB
       ADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgApAAAA3iAA
       ACwCAAAHAEllSmVJZTHhAgAAAAD//wcASQBlAEoAZQBJAGUAMQCMAAEAAAAAAIsAAQACAAAA
       HwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAApwEAAAAAAAAAAAgAAAAAAAAA/wMA
       AAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcA
       AAD4IwAAwgEAAAEAaXcAAAAAAP//AQBpAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAz
       AAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAAAAAAAAAAAP8DAAAA
       iAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAHQAAAJYkAAAsAgAAAwBJ
       ZU99AQAAAAD//wMASQBlAE8AjAABAAAAAACLAAEAAgAAAB8AigABADoAAAACADQAAAAKAFN0
       YXJTeW1ib2wAAAAAAACnAQAA//8AAAAABQAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIA
       AAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAACMmAADCAQAAAQAAAIPgUwEA
       AAAA//8BAIPgjAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAA
       AAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUA
       AAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAAlicAAMIBAAABAHa6AAAAAAD//wEAdgCMAAEA
       AAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAA
       AAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQA
       AAAAAAAAcgACACkAAABpKAAALAIAAAcASWVKZUllMuECAAAAAP//BwBJAGUASgBlAEkAZQAy
       AIwAAQAAAAAAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAJ0rAADCAQAAAQBqkAAAAAAA//8BAGoAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAdAAAAPCwAACwCAAADAEllT30BAAAAAP//AwBJAGUATwCMAAEAAAAAAIsAAQACAAAAHwCF
       AAEABQAAAAAAAAABhAABAAUAAAAAAAAAAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAA
       AAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAZwABABAAAADwHwAAewIAAO4tAACPAgAAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAXAAAAliQAACIEAAABAHa6AAAAAAD//wEAdgCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAA
       AAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/
       AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACACAAAABqJQAApwQA
       AAQASWVKZZ8BAAAAAP//BABJAGUASgBlAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0
       AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAA
       AIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAAsJwAAIgQAAAEA
       AACD4FMBAAAAAP//AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFy
       U3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAA
       AQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAACEKAAAIgQAAAEAAAC74MsAAAAA
       AP//AQC74IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACw
       AQAA9wQAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACABoAAAD+LQAA7QMAAAEAAACf4MsAAAAAAP//AQCf4IwA
       AQAAAAAAlQABAAQAAAAAAAAAlgABAAIAAAAAAIwAAQAAAAAA
      </office:binary-data>
     </draw:image>
    </draw:frame></text:p>
   <text:p text:style-name="equation"><draw:frame draw:style-name="fr1" draw:name="Object16" text:anchor-type="as-char" svg:width="4.0728in" svg:height="0.511in" draw:z-index="15"><draw:object>
      <math xmlns="http://www.w3.org/1998/Math/MathML" display="block">
       <semantics>
        <mrow>
         <mrow>
          <msub>
           <mstyle mathvariant="bold">
            <mi mathvariant="normal">F</mi>
           </mstyle>
           <mrow>
            <mi mathvariant="italic">Ie</mi>
            <mi>μ</mi>
            <mi>O</mi>
           </mrow>
          </msub>
          <mo stretchy="false">=</mo>
          <mrow>
           <mo fence="true" form="prefix" stretchy="true">(</mo>
           <mrow>
            <mrow>
             <msub>
              <mi>μ</mi>
              <mi mathvariant="italic">FFz</mi>
             </msub>
             <mrow>
              <mrow>
               <mo fence="true" form="prefix" stretchy="true">|</mo>
               <mrow>
                <msub>
                 <mi>F</mi>
                 <mrow>
                  <mi mathvariant="italic">IeJtIe</mi>
                  <mn>3</mn>
                 </mrow>
                </msub>
               </mrow>
               <mo fence="true" form="postfix" stretchy="true">|</mo>
              </mrow>
              <mo stretchy="false">+</mo>
              <msub>
               <mi>μ</mi>
               <mi mathvariant="italic">TFx</mi>
              </msub>
             </mrow>
             <mrow>
              <mrow>
               <mo fence="true" form="prefix" stretchy="true">|</mo>
               <mrow>
                <msub>
                 <mi>T</mi>
                 <mrow>
                  <mi mathvariant="italic">IeJtIe</mi>
                  <mn>1</mn>
                 </mrow>
                </msub>
               </mrow>
               <mo fence="true" form="postfix" stretchy="true">|</mo>
              </mrow>
              <mo stretchy="false">+</mo>
              <msub>
               <mi>μ</mi>
               <mi mathvariant="italic">TFy</mi>
              </msub>
             </mrow>
             <mrow>
              <mo fence="true" form="prefix" stretchy="true">|</mo>
              <mrow>
               <msub>
                <mi>T</mi>
                <mrow>
                 <mi mathvariant="italic">IeJtIe</mi>
                 <mn>2</mn>
                </mrow>
               </msub>
              </mrow>
              <mo fence="true" form="postfix" stretchy="true">|</mo>
             </mrow>
            </mrow>
           </mrow>
           <mo fence="true" form="postfix" stretchy="true">)</mo>
          </mrow>
         </mrow>
         <mrow>
          <mo fence="true" form="prefix" stretchy="true">(</mo>
          <mrow>
           <mfrac>
            <mrow>
             <msub>
              <mi>ω</mi>
              <mrow>
               <mi mathvariant="italic">IeJeIe</mi>
               <mn>3</mn>
              </mrow>
             </msub>
             <msub>
              <mstyle mathvariant="bold">
               <mi mathvariant="normal">k</mi>
              </mstyle>
              <mi mathvariant="italic">IeO</mi>
             </msub>
            </mrow>
            <mrow>
             <msub>
              <mi>ω</mi>
              <mi mathvariant="italic">IeJe</mi>
             </msub>
             <mo stretchy="false">+</mo>
             <mi>ϵ</mi>
            </mrow>
           </mfrac>
          </mrow>
          <mo fence="true" form="postfix" stretchy="true">)</mo>
         </mrow>
        </mrow>
        <annotation encoding="StarMath 5.0">{bold nitalic F}_{Ie{%mu}O}
=
left(
%mu_FFz
abs
{
F_IeJtIe3
}
+
%mu_TFx
abs
{
T_IeJtIe1
}
+
%mu_TFy
abs
{
T_IeJtIe2
}
right)
left(
{%omega_IeJeIe3 {bold nitalic k}_IeO}
over
{%omega_IeJe + %epsilon}
right)
</annotation>
       </semantics>
      </math>
     </draw:object><draw:image>
      <office:binary-data>VkNMTVRGAQAxAAAAAAAAAAEAGwAAAAAAAAAAAAAAAAABAAAAAQAAAAEAAAABAAAAAWkoAAAT
       BQAAEwEAAIsAAQACAAAA//+BAAEAEAAAAAAAAAAAAAAAaCgAABIFAACVAAEABAAAAAAAAACW
       AAEAAgAAAAkAiwABAAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAACnAQAA
       AAAAAAAACAAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCG
       AAEABAAAAAAAAAByAAIAFwAAAGoAAAD/AgAAAQBG/gAAAAAA//8BAEYAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAP0AAAAAAAAAAAAFAAAAAAAC
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAaAAAAjQEAAGkDAAACAEllwwAAAAAA//8CAEkAZQCMAAEAAAAAAIsAAQACAAAAHwCKAAEA
       OgAAAAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAP0AAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAA
       AAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAAewIA
       AGkDAAABAAAAwuCYAAAAAAD//wEAwuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAA
       AAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgA
       AQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABcAAAAaAwAAaQMAAAEAT7oA
       AAAAAP//AQBPAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAADtAwAA/wIAAAEAAAA9AFMBAAAAAP//AQA9
       AIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAD8AAAARgIA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAABFBQAANAMAAAEAAACe4HcAAAAAAP//AQCe4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABoAAADkBQAA/wIAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIAAAAf
       AIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAHQAA
       AO0GAABpAwAAAwBGRnqFAQAAAAD//wMARgBGAHoAjAABAAAAAACLAAEAAgAAAB8AigABADoA
       AAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAAAAD/AwAAAAAAAAAA
       AP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAAHoIAAA0
       AwAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMAAAAJ
       AFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACIAAEA
       AgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAA/ggAAP8CAAABAEb+AAAA
       AAD//wEARgCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxlAAAA
       AAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACACkAAAA7CgAAaQMAAAcASWVKdEllM7YCAAAAAP//BwBJ
       AGUASgB0AEkAZQAzAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3lt
       Ym9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCH
       AAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAC2DAAANAMAAAEAAAAjIqkAAAAAAP//
       AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAA
       pwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP//
       //8AhgABAAQAAAAAAAAAcgACABoAAAA7DQAA/wIAAAEAAACD4FMBAAAAAP//AQCD4IwAAQAA
       AAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAA
       AAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQA
       AAAAAAAAcgACABoAAACTDgAA/wIAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwABAAIA
       AAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/
       AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIA
       HQAAAJsPAABpAwAAAwBURniOAQAAAAD//wMAVABGAHgAjAABAAAAAACLAAEAAgAAAB8AigAB
       ADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAAAAD/AwAAAAAA
       AAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAAACgR
       AAA0AwAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkAAAACADMA
       AAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMAAACI
       AAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAAkhEAAP8CAAABAFTt
       AAAAAAD//wEAVACMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5kYWxl
       AAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACACkAAADPEgAAaQMAAAcASWVKdEllMbYCAAAAAP//
       BwBJAGUASgB0AEkAZQAxAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFy
       U3ltYm9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAA
       AQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAABKFQAANAMAAAEAAAAjIqkAAAAA
       AP//AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAA
       AAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACABoAAADPFQAA/wIAAAEAAACD4FMBAAAAAP//AQCD4IwA
       AQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//
       AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgAB
       AAQAAAAAAAAAcgACABoAAAAnFwAA/wIAAAEAAADC4P4AAAAAAP//AQDC4IwAAQAAAAAAiwAB
       AAIAAAAfAIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAA
       AgD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAABy
       AAIAHQAAAC8YAABpAwAAAwBURnmOAQAAAAD//wMAVABGAHkAjAABAAAAAACLAAEAAgAAAB8A
       igABADoAAAACADQAAAAKAFN0YXJTeW1ib2wAACABAAD9AQAA//8AAAAABQAAAAAAAAD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAGgAA
       ALwZAAA0AwAAAQAAACMiqQAAAAAA//8BACMijAABAAAAAACLAAEAAgAAAB8AigABADkAAAAC
       ADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAFAAAAAAACAP8DAAAAAAAAAAAA/wMA
       AACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAXAAAAJhoAAP8CAAAB
       AFTtAAAAAAD//wEAVACMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkAVGhvcm5k
       YWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCH
       AAEABQAAAP////8AhgABAAQAAAAAAAAAcgACACkAAABjGwAAaQMAAAcASWVKdEllMrYCAAAA
       AP//BwBJAGUASgB0AEkAZQAyAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBT
       dGFyU3ltYm9sAAAgAQAA/QEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQAC
       AAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAD5HQAANAMAAAEAAAAjIqkA
       AAAAAP//AQAjIowAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9s
       AAD8AAAARgIAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEA
       BQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAB9HgAANAMAAAEAAACf4HcAAAAAAP//AQCf
       4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACwAQAA9wQA
       AP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8A
       hgABAAQAAAAAAAAAcgACABoAAAACHwAA7QMAAAEAAACe4MsAAAAAAP//AQCe4IwAAQAAAAAA
       iwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAAAAAApwEAAP//AAAAAAUA
       AAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAA
       AAAAcgACABoAAAAKIAAAwgEAAAEAAADO4EoBAAAAAP//AQDO4IwAAQAAAAAAiwABAAIAAAAf
       AIoAAQA5AAAAAgAzAAAACQBUaG9ybmRhbGUAAAAAAAD9AAAAAAAAAAAABQAAAAAAAgD/AwAA
       AAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAAAAAAAAByAAIAKQAA
       AGIhAAAsAgAABwBJZUplSWUz4QIAAAAA//8HAEkAZQBKAGUASQBlADMAjAABAAAAAACLAAEA
       AgAAAB8AigABADkAAAACADMAAAAJAFRob3JuZGFsZQAAAAAAAKcBAAAAAAAAAAAIAAAAAAAA
       AP8DAAAAAAAAAAAA/wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIA
       AgAXAAAAfCQAAMIBAAABAGvlAAAAAAD//wEAawCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAA
       AAIAMwAAAAkAVGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/
       AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACAB0AAACEJQAALAIA
       AAMASWVPfQEAAAAA//8DAEkAZQBPAIwAAQAAAAAAiwABAAIAAAAfAIUAAQAFAAAAAAAAAAGE
       AAEABQAAAAAAAAAAigABADoAAAACADQAAAAKAFN0YXJTeW1ib2wAAAAAAACnAQAA//8AAAAA
       BQAAAAAAAAD/AwAAAAAAAAAAAP8DAAAAiAABAAIAAAABAIcAAQAFAAAA/////wCGAAEABAAA
       AAAAAABnAAEAEAAAAPAfAAB7AgAAJScAAI8CAACMAAEAAAAAAIsAAQACAAAAHwCKAAEAOgAA
       AAIANAAAAAoAU3RhclN5bWJvbAAAAAAAAKcBAAD//wAAAAAFAAAAAAAAAP8DAAAAAAAAAAAA
       /wMAAACIAAEAAgAAAAEAhwABAAUAAAD/////AIYAAQAEAAAAAAAAAHIAAgAaAAAA3iAAACIE
       AAABAAAAzuBKAQAAAAD//wEAzuCMAAEAAAAAAIsAAQACAAAAHwCKAAEAOQAAAAIAMwAAAAkA
       VGhvcm5kYWxlAAAAAAAA/QAAAAAAAAAAAAUAAAAAAAIA/wMAAAAAAAAAAAD/AwAAAIgAAQAC
       AAAAAQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACACAAAABQIgAApwQAAAQASWVKZZ8B
       AAAAAP//BABJAGUASgBlAIwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFy
       U3ltYm9sAAAAAAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAA
       AQCHAAEABQAAAP////8AhgABAAQAAAAAAAAAcgACABoAAAD4IwAAIgQAAAEAAACD4FMBAAAA
       AP//AQCD4IwAAQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAAAA
       AAAApwEAAP//AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAA
       AP////8AhgABAAQAAAAAAAAAcgACABoAAABPJQAAIgQAAAEAAAC74MsAAAAAAP//AQC74IwA
       AQAAAAAAiwABAAIAAAAfAIoAAQA6AAAAAgA0AAAACgBTdGFyU3ltYm9sAACwAQAA9wQAAP//
       AAAAAAUAAAAAAAAA/wMAAAAAAAAAAAD/AwAAAIgAAQACAAAAAQCHAAEABQAAAP////8AhgAB
       AAQAAAAAAAAAcgACABoAAABGJwAA7QMAAAEAAACf4MsAAAAAAP//AQCf4IwAAQAAAAAAlQAB
       AAQAAAAAAAAAlgABAAIAAAAAAIwAAQAAAAAA
      </office:binary-data>
     </draw:image>
    </draw:frame></text:p>
   <text:h text:style-name="Heading_20_2" text:outline-level="2">Universal Joint Friction</text:h>
   <text:p text:style-name="Standard">Use two revolute joints to be precise.</text:p>
   <text:p text:style-name="equation"/>
   <text:p text:style-name="equation"/>
   <text:p text:style-name="equation"/>
   <text:p text:style-name="equation"/>
   <text:p text:style-name="equation"/>
   <text:p text:style-name="equation"/>
   <text:p text:style-name="equation"/>
   <text:p text:style-name="equation"/>
   <text:p text:style-name="equation"/>
  </office:text>
 </office:body>
</office:document>