 F_{y,{\rm R}} b \cos(\delta_{\rm R})
    \end{eqnarray}
</p>
</p><pre class="codeinput"><span class="comment">% Generalized forces array</span>
Q = formula(simplify([Q1 ; Q2 ; Q3]));
</pre><h2 id="14">Kinetic Energy</h2><p>
<p>The kinetic energy of the system is</p>
<p>
    \begin{equation} \label{eq:kineticenergy} T = \frac{1}{2} m_{\rm T} {\bf v}_{\rm T} \cdot {\bf v}_{\rm T} + \frac{1}{2} \left\{ {\bf w}_{\rm T} \right\}^T \left[ {\bf J}_{\rm T} \right] \left\{ {\bf w}_{\rm T} \right\}.\end{equation}
</