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msm/ShoulderModel_HHT/LinearAccofCenterofMass_6DOF.m
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LinearAccofCenterofMass_6DOF.m
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A_CG(1,1) = ddq4 + CG*dq2^2*sin(q2)*sin(q3) + CG*dq3^2*sin(q2)*sin(q3) - CG*ddq2*cos(q2)*sin(q3) - CG*ddq3*cos(q3)*sin(q2) - 2*CG*dq2*dq3*cos(q2)*cos(q3);
A_CG(2,1) = ddq5 + CG*dq2^2*cos(q2) + CG*ddq2*sin(q2);
A_CG(3,1) = ddq6 + CG*dq2^2*cos(q3)*sin(q2) + CG*dq3^2*cos(q3)*sin(q2) - CG*ddq2*cos(q2)*cos(q3) + CG*ddq3*sin(q2)*sin(q3) + 2*CG*dq2*dq3*cos(q2)*sin(q3);
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