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9635954426bf6f0cf2a1dee861c7baa086f59e3b: $$
\dot{q}
3eaa1daf739ab71095c53cf022594bebbafc3663: $$
\color{NavyBlue} r_2
da16bc6c1903044d98edc737939c439765cc587e: $$
h
7f9c7b1ab2a434eaea1f35c87d95e6f8fa5c4db1: $$
T_{s,2}