begin{eqnarray}
%     \nonumber \frac{d}{dt} \left( \frac{\partial T}{\partial \dot{q}_1} \right) &=& \frac{d}{dt} \left( \frac{\partial T}{\partial \dot{x}} \right) = m_{\rm T} \ddot{x} \\
%     \nonumber \frac{d}{dt} \left( \frac{\partial T}{\partial \dot{q}_2} \right) &=& \frac{d}{dt} \left( \frac{\partial T}{\partial \dot{y}} \right) = m_{\rm T} \ddot{y} \\
%     \nonumber \frac{d}{dt} \left( \frac{\partial T}{\partial \dot{q}_3} \right) &=& I_{\rm T} \ddot{\psi}
%     \end{eqnarray}
% </p>
% </html>

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