elocity</span>
wT_t        = [0 0 diff(PSI_t,t)];

<span class="comment">% Velocity (T)</span>
VTdiff_t    = diff(PTO_t,t);
VTdiff      = subs(VTdiff_t,symfunVariables,symVariables);

<span class="comment">% Velocity - Alternative definition</span>
dx_Alt_t    = VT_t*cos(PSI_t + ALPHAT_t);
dy_Alt_t    = VT_t*sin(PSI_t + ALPHAT_t);
dx_Alt      = subs(dx_Alt_t,symfunVariables,symVariables);
dy_Alt      = subs(dy_Alt_t,symfunVariables,symVariables);

<span class="comment">% Acceleration - Alternative definitio