
dTdq = subs(dTdq,symVariables,symfunVariables);
</pre><p>
<p>The partial derivatives are</p>
<p>
    \begin{eqnarray}
    \nonumber \frac{\partial T}{\partial \dot{q}_1} &=& \frac{\partial T}{\partial \dot{x}} = m_{\rm T} \dot{x} \\
    \nonumber \frac{\partial T}{\partial \dot{q}_2} &=& \frac{\partial T}{\partial \dot{y}} = m_{\rm T} \dot{y} \\
    \nonumber \frac{\partial T}{\partial q_3} &=& \frac{\partial T}{\partial \dot{\psi}} = I_{\rm T} \dot{\psi}
    \end{eqnarray}
</p>
<p>Time derivatives</p>
<p>