# Editing Ocs package

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Latest revision | Your text | ||

Line 54: | Line 54: | ||

\qquad | \qquad | ||

\begin{array}{l} | \begin{array}{l} | ||

− | {n} = 1, \, \ldots \, ,N | + | {n} = 1, \, \ldots \, ,N \\ |

+ | B_{mi} \dot{{r}}_{m} + | ||

+ | Q_{mi}\ \left( {e}, {r}_{m} \right) = 0. | ||

\end{array} | \end{array} | ||

</math> | </math> | ||

<math> | <math> | ||

− | |||

− | |||

\begin{array}{l} | \begin{array}{l} | ||

{i} = 1, \, \ldots \, ,{I}_m \\ | {i} = 1, \, \ldots \, ,{I}_m \\ |