 <td><b>fbKin</b></td>
  <td>replaced by <b>fbkin</b> which takes different arguments</td>
</tr>
<tr>
  <td><b>FDab</b></td>
  <td>no gravity argument; <b>f_ext</b> now in absolute coordinates</td>
</tr>
<tr>
  <td><b>FDcrb</b></td>
  <td>no gravity argument; <b>f_ext</b> now in absolute coordinates</td>
</tr>
<tr>
  <td><b>FDf</b></td>
  <td>name changed to <b>FDfb</b>; return value <b>afb</b> replaced
    with <b>xdfb</b>; arguments <b>Xfb</b> and <b>vfb</b> replaced
    with <b>xfb</b>; no gravity argume