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p_m(t) = p_i{mi} + \sum_k \delta p_{mk}(t) = p_i{mi} + \sum_k \int_0^t p_{umk}(t-\tau) \, dq_k(\tau) = p_i{mi} + \int_0^t p_{umm}(t-\tau) \, dq_m(\tau) + \sum_{k \neq m} \int_0^t p_{umk}(t-\tau) \, dq_k(\tau) |
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p_m(t) = p_i{mi} + \sum_k \delta p_{mk}(t) = p_i{mi} + \sum_k \int_0^t p_{umk}(t-\tau) \, dq_k(\tau) = p_i{mi} + \int_0^t p_{umm}(t-\tau) \, dq_m(\tau) + \sum_{k \neq m} \int_0^t p_{umk}(t-\tau) \, dq_k(\tau) |
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