TwoLink_cse.tex

MTT command:

mtt TwoLink cse tex

$$\dot \chi_{1} = { {\left (2 \cos{\left (x_{2} - x_{4}\right )} j_... ...} - l_{1}^2 l_{2}^2 m_{1} m_{2} - 2 l_{1}^2 l_{2}^2 m_{2}^2\right )}\right )} }$$ (7.4)

$$\dot \chi_{2} = { x_{1} \over j_{1} }$$ (7.5)

$$\dot \chi_{3} = { {\left (2 \cos{\left (x_{2} - x_{4}\right )} j_... ...} - l_{1}^2 l_{2}^2 m_{1} m_{2} - 2 l_{1}^2 l_{2}^2 m_{2}^2\right )}\right )} }$$ (7.6)

$$\dot \chi_{4} = { x_{3} \over j_{2} }$$ (7.7)

$$y_{1} = { x_{1} \over j_{1} }$$ (7.8)

$$y_{2} = { {\left (j_{1} x_{3} - j_{2} x_{1}\right )} \over {\left (j_{1} j_{2}\right )} }$$ (7.9)

$$E = \begin{pmatrix}{{\left (j_{1} + l_{1}^2 m_{1} + 4 l_{1}^2 m_{... ...{2}^2 m_{2}\right )} \over j_{2}} & {0} \cr {0} & {0} & {0} & {1} \end{pmatrix}$$ (7.10)