_{R/O}</span>

PFO   = subs(PFO_t,symfunVariables,symVariables);               <span class="comment">% P_{F/O}</span>
PRO   = subs(PRO_t,symfunVariables,symVariables);               <span class="comment">% P_{R/O}</span>
</pre><h2 id="7">Velocity</h2><p>
<p>The angular velocity is</p>
<p>
    \begin{equation}
    {\bf w}_{\rm T} = \dot{\psi} {\bf k}. \label{eq:tractorvelangular}
    \end{equation}
</p>
<p>CG velocity</p>
<p>
    \begin{equation}
    {\bf v}_{\rm T} = \dot{x} {\bf i} + \dot{y} {\bf j} \label