The equationsof lateral asymmetric motionare therefore obtainedbyextracting the
side force, rollingmoment and yawing moment equationsfrom equations (4.37)and
substituting equations (4.43) and (4.44) as appropriate.Whence
⎛
⎝
m˙v −
◦
Y
v
v −
◦
Y
p
+mW
e
p−
◦
Y
r
−mU
e
r
−mgφcosθ
e
−mgψsinθ
e
⎞
⎠
=
◦
Y
ξ
ξ+
◦
Y
ζ
ζ
−
◦
L
v
v +I
x
˙p −
◦
L
p
p−I
xz
˙r −
◦
L
r
r=
◦
L
ξ
ξ+
◦
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