\n", "$$\n", "\\begin{aligned}\n", " m \\ddot x &= F_1 \\cos\\theta - F_2 \\sin\\theta - c \\dot x, \\\\\n", " m \\ddot y &= F_1 \\sin\\theta + F_2 \\cos\\theta - m g - c \\dot y, \\\\\n", " J \\ddot \\theta &= r F_1.\n", "\\end{aligned}\n", "$$\n", " |