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e6b2a12fa93162a970255b50e37dc53e821fa38c: $$
\ell
d36dd103aa648dce7e7cd5aff3c2e1e110107130: $$
e_2
91fe1eb83f56e3cae61e58f28f213f384b39bc6f: $$
\theta(t)
26f4142afa01e19e6b87304f5de6981f1fd5daa4: $$
\color{red} mg