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9034a25795acf05aebd81fbe1bf4f805e82f198b: $$
C
d092b71acfd85f7017c1e603e8faae30de3cbcbc: $$
A
b2ab49d96e82b622709e9e6c8f5a62e87dc448ea: $$
\color{red} mg
591d6f3ddf24d7388a5afa92c0a0cc04381da22a: $$
\color{red} \dot{\theta}
311109adad75dd75bce88fc1bcbdc33fbebe0736: $$
e_2