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LaTeX Math Block
anchorq_o
alignmentleft
q_o = B_o \cdot (q_O - R_v \, q_G)
LaTeX Math Block
anchorq_g
alignmentleft
q_g = \B_g \cdot ( q_G - R_s \, q_O)
LaTeX Math Block
anchorq_w
alignmentleft
q_w = B_w \, q_W

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