 \sin(\delta_{\rm R}) - F_{y,{\rm R}} b \cos(\delta_{\rm R})
%     \end{eqnarray}
% </p>
% </html>

% Generalized forces array
Q = formula(simplify([Q1 ; Q2 ; Q3]));

%% Kinetic Energy
% <html>
% <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}
% </p>
% <p>Substituting \r