p>
% <p>
%     \begin{eqnarray}
%     \nonumber Q_1 &=& {\bf F}_{\rm F} \cdot \frac{\partial {\bf p}_{{\rm F}/{\rm O}}}{\partial q_1} + {\bf F}_{\rm R} \cdot \frac{\partial {\bf p}_{{\rm R}/{\rm O}}}{\partial q_1} \\
%     \nonumber Q_2 &=& {\bf F}_{\rm F} \cdot \frac{\partial {\bf p}_{{\rm F}/{\rm O}}}{\partial q_2} + {\bf F}_{\rm R} \cdot \frac{\partial {\bf p}_{{\rm R}/{\rm O}}}{\partial q_2} \\
%     \nonumber Q_3 &=& {\bf F}_{\rm F} \cdot \frac{\partial {\bf p}_{{\rm F}/{\rm O}}}{\partial q_3} + {\bf F