The mass inertia matrix is 
A, =M+M, sin? 0 
Ap = M, sin 6 cos 8 
A,, = -Q, sin 6 
Ay, = Ay 
Ago =M +M, cos” 6 
A3, = Ay 
Aj. = Ag; 
A,, ~I1tI, 
The matrix is inverted by the system routine MATINS. The inverted matrix is then 
used to solve the following equations which determine the state vectors. 
om ae ee i “il 
Xog =A Fy t Ay” F, + Ay3” F; 
ed eM emer el =i Z 
Zog = Agy F, t+Agy F, +A; F; 
gerbils OE “1 “i 
@ =A,, F, +A,. F,+A;, F, 
Subroutine FUNCT (X) 
This routine evaluates various integrals appearing in the force and moment mathematical 
models. The integrals are evaluated, using a trapezoidal integration algorithm. The argument 
x contains the state vector. A list of integrals that are evaluated is presented. 
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