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Equation Icon  [x1x2 ...xn,y1y2...yn ] ϕ(t) ( ∑n ∑n ∑n ∑n ) ( ∑n ∑n ) = Lx ˙Lym − Lym ˙Lx ϕ˙ t − Lx − Lym . (72 ) k=1 k m=1 m=1 k=1 k k=1 k m=1