al q_k} = Q_k \qquad \qquad k = 1, 2, 3
%     \end{equation}
% </p>
% <p>where</p>
% <p>
%     \begin{eqnarray}
%     \frac{\partial T}{\partial q_1} &=& \frac{\partial T}{\partial x} = 0 \\
%     \frac{\partial T}{\partial q_2} &=& \frac{\partial T}{\partial y} = 0 \\
%     \frac{\partial T}{\partial q_3} &=& \frac{\partial T}{\partial \psi} = 0
%     \end{eqnarray}
% </p>
% </html>

dTdq1 = diff(T,x);
dTdq2 = diff(T,y);
dTdq3 = diff(T,PSI);
dTdq = [ dTdq1 ; dTdq2 ; dTdq3 ];
dTdq = subs(dTdq,symVariables,s