Equation Icon   h(1)(t;qm) = u(t;qm)cos f(t;qm), h(2)(t;qm) = v(t;qm)cos f(t;qm), (13) h(3)(t;qm) = u(t;qm)sinf(t;qm), (4) m m m h (t;q ) = v(t;q )sinf(t;q ),