Equation Icon  α [ 1- b 2 ] α [ 1- b c 2 ] α p˙a(t) = aa + 2sRa0b0 ω + O(s ) ¯e0 + − 2sR a0cω + O (s ) ¯eb, α [ ] α [ b ] α ¨pa(t) = ˙aa + O (s) ¯e0 + aaa + O (s) ¯eb,