Overview
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xxxxxxx xxxxxxxx xx xxx xxxxxxx xxxxxxx x xxxxxx xxxxx xx xxxxxxxx xxx xxxxxxx
xx xxx xxxxxxxx xx x xxxxxxx xxxx xxxx xxxxxxx xxx xx xxxxxxx xx xxxx xxxxxxxx xxxxxxxxxxxxx xxxxxxxxx
xxxx xxxx xxxxxxx xxxx xxxxxxxx xxx xxxxxx xx xxxxxxx x xxxxxxxx xxxxxx
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(3.1) |
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(3.2) |
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This can be expressed more compactly in vector notation as
(3.3) |
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xxxxxx xxxxxxx xxxxxxx xxx xxxxxxx xxxxxxxx xxxx x xxxx x xxxx xxx xxx xxxx
xxxxxxxxxx xxxx x xx x xxxxxxxxxxxxx xxxx
xxxxxxxxx xxx xxxxx xxx xxxxx xxxxxx xxxxxx xxxxxxxxx
xxxxx xxxxxx xxxxxxxx x xxxxxxxx xxxxx xxxxxxxxxxxxxx