Equation Icon  α [ 1-2 3 ] α [ ( 1- b) a 1-2 a 1-2 a b 3 ] α e0 = 1 − 2s ˙a0(t) + O (s ) ¯e0 + − s 1 − 2sab ω a (t) + 2s ˙a (t) − 2s R 0b0(t)ω + O(s ) ¯e(a1.1.9 )