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body
ω at F, v at M
mirror plane
Mirror axis
Off
F
x
F
y
F
z
Motion
q₁ latitude
q₂ longitude
q₃ spin
Wander
Stop
Shared coordinates q (x-y-z)
q₁
q₂
q₃
Semi-axes in F
a
x
b
y
c
z
State
diag(S)
diag(−S)
p_FM
S·p_FM
u
−S·u