l>

% Force vectors
FF = [FxF*cos(PSI+deltaf)-FyF*sin(PSI+deltaf)           FxF*sin(PSI+deltaf)+FyF*cos(PSI+deltaf)     0];
FR = [FxR*cos(PSI+deltar)-FyR*sin(PSI+deltar)           FxR*sin(PSI+deltar)+FyR*cos(PSI+deltar)     0];

%%
% <html>
% <p>The generalized forces are</p>
% <p>
%     \begin{equation}
%     Q_k = \sum_{j = 1} ^p {\bf F}_j \cdot \frac{\partial {\bf p}_j}{\partial q_k} \qquad \qquad \begin{array}{c} k = 1, 2, 3 \\ j = {\rm F}, {\rm R} \end{array}.
%     \end{equation}
% </p>
% <p>This is</