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0d5f2dfb0e409dbaeaa64147338fd82b0f261182: $$
m
0a90d95f2ddda289b5bd2d4c9f2f6e6a8463d41f: $$
\color{NavyBlue} e_2
0eed3c0b21e204f3f6e1dc87534278b1b9b45aeb: $$
\color{NavyBlue} e_r
fc23d51bf8f36918f59676d9001f9e9f01ab511d: $$
\theta
0a433d45878e6e934f787dbc60d860f8183cbb07: $$
\color{red} \tau(t)