Equation Icon  ˙pa(t) = 1s2Rab0cωbωc + O (s3), 3 ( b) 1- b 2 ¨pa(t) = 1 + sabω aa + 3sRa0b0ω + O (s ), p(3)(t) = 2 ˙a (t) + O (s). a a