eft( \dot{\psi} + \dot{\alpha}_{\rm T} \right) \cos \left( \psi + \alpha_{\rm T} \right). \label{eq:posvelanglesubs}
\end{eqnarray}</p>
<p>Substituting equation \ref{eq:posvelanglesubs} in \ref{eq:equationofmotion} we have</p>
<p>
    \begin{eqnarray}
    \nonumber m_{\rm T} \left( \dot{v}_{\rm T} \cos \left( \psi + \alpha_{\rm T} \right) - v_{\rm T} \left( \dot{\psi} + \dot{\alpha}_{\rm T} \right) \sin \left( \psi + \alpha_{\rm T} \right) \right) &=& F_{x,{\rm F}} \cos \left( \psi + \delta_{\rm F} \right) 