... (177)where(z) =⎡⎣N(q) 00 W(y0)⎤⎦∈ R(6m +6) ×(6m +6) ,φ(z, ˙z) =n(q, ˙q,y0, ˙y0)w(q, ˙q,y0, ˙y0)∈ R6m +6 ,δτ= col(τ, 0, ,0) ∈ R6m +6 ,τ ∈ R6m×1. (178)Mathematical Models of ... (183)where(z) =⎡⎣N(q) 00 W(Y0)⎤⎦∈ R(6m +6) ×(6m +6) ,φ(z, ˙z) =n(q, ˙q,Y0,˙Y0)w(q, ˙q,Y0,˙Y0)∈ R6m +6 ,δτ= col(τ, 0, ,0) ∈ R6m +6 ,τ ∈ R6m×1. (184)Mathematical Models of ... )=12∂YT¯πa(Y )Y∂Yi+ πia(Y )Y ∈ R 6 1, (121)where πia(Y ) ∈ R 6 (6m +6) are the submatrices composed of the rows starting fromthe (6i + 1)th to (6i + 6) th row i nclusive, of the matrix πa(Y...