ymfunVariables);

%%
% <html>
% <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>
%     \