left( \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 