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math \begin{align} \boldsymbol{r}_{c1} &= \begin{bmatrix} 0 \\ 0 \\ \tfrac{1}{2} h_1 \end{bmatrix} \\ \ddot{\boldsymbol{r}}_{c1} &= \begin{bmatrix} \ddot{q} \\ 0 \\ 0 \end{bmatrix} \\ \dot{\boldsymbol{P}}_1 &= m_1 \ddot{\boldsymbol{r}}_{c1} = \begin{bmatrix} m_1 \ddot{q} \\ 0 \\ 0 \end{bmatrix} \\ \dot{\boldsymbol{H}}_1 &= \boldsymbol{r}_{c1} \times m_1 \ddot{\boldsymbol{r}}_{c1} = \begin{bmatrix} 0 \\ \tfrac{1}{2} h_1 m_1 \ddot{q} \\ 0 \end{bmatrix} \end{align} math