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fa115a3f669b6716434608cab9e23467a7c62e1d: $$
A
9635954426bf6f0cf2a1dee861c7baa086f59e3b: $$
\dot{q}
e152fe5db59468d8726a6aa4b0e52d7154eeb842: $$
\color{NavyBlue} r_1
8a27f983ae2e02e228af5186dbe2c977a221a845: $$
\color{NavyBlue} r_3
da16bc6c1903044d98edc737939c439765cc587e: $$
h
7f9c7b1ab2a434eaea1f35c87d95e6f8fa5c4db1: $$
T_{s,2}