ef{eq:tractorvelangular} and \ref{eq:tractorveltranslation} in \ref{eq:kineticenergy} </p>
% <p>
%     \begin{equation}T = \frac{1}{2} m_{\rm T} \left( \dot{x}^2 + \dot{y}^2 \right) + \frac{1}{2} I_{\rm T} \dot{\psi}^2,\end{equation}
% </p>
% </html>

T = 1/2*mT*(VTdiff*VTdiff.') + 1/2*IT*dPSI^2;

%% Euler-Lagrange
% <html>
% <p>The Euler-Lagrange formulation for this system is</p>
% <p>
%     \begin{equation}
%     \frac{d}{dt} \left( \frac{\partial T}{\partial \dot{q}_k} \right) - \frac{\partial T}{\parti