Question: m [ ( w ^ ( ) ) - uq - x _ ( G ) ( q ^ ( ) ) - z _

m[(w^())-uq-x_(G)(q^())-z_(G)q^(2)]= Z_(w^())w^()+Z_(w)w+Z_(q^())q^()+Z_(q)q+(W-B)cos\theta +T_(v) I_(y)q^()-m[x_(G)((w^())-uq)-z_(G)((u^())+wq)]= M_(w^())w^()+M_(w)w+M_(q^())q^()+M_(q)q -(x_(G)W-x_(B)B)cos\theta -(z_(G)W-z_(B)B)sin\theta +x_(G)T_(v)\theta ^()=q z^()=wcos\theta-usin\theta

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