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834f6a5c4e0bb3e5d4204da5a44df4b963e371a8: $$
B
4e34326dde50842b69ed42cbb2e6222abf1ff948: $$
x(t)
90e455a817fe076a3b96328b1d5efcfec9b2d3bf: $$
e_2
53db0d31711e959446fabe6f8fbac39e8f4c57d0: $$
\theta
b7007eadcfbc52905ab3a5f36b47242a2b7a7a6c: $$
m_1, I_{1c}
cf85a6d3bb6f1b1686ec067389fec76ca5291143: $$
R