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Line 40: | Line 40: | ||
\qquad | \qquad | ||
\begin{array}{l} | \begin{array}{l} | ||
{n} = 1, \, \ldots \, ,N | {n} = 1, \, \ldots \, ,N | ||
\end{array} | \end{array} | ||
</math> | </math> | ||
<math> | <math> | ||
B_{mi} \dot{{r}}_{m} + | |||
Q_{mi}\ \left( {e}, {r}_{m} \right) = 0 \qquad | |||
\begin{array}{l} | \begin{array}{l} | ||
{i} = 1, \, \ldots \, ,{I}_m \\ | {i} = 1, \, \ldots \, ,{I}_m \\ |
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