NonlinearStateSpaceModel[{{\[Omega][t], \[Gamma][t], vx[t] - z[t]*\[Omega][t], vz[t] + x[t]*\[Omega][t], ((-(a*mf*Cos[\[Psi][t]]*(b*m^2 + b*m*mf + a*m*mf*Cos[\[Psi][t]] + a*mf^2*Cos[\[Psi][t]])) - (m + mf)*(-(a^2*m*mf) - a^2*mf^2 - m*\[ScriptCapitalI]f - mf*\[ScriptCapitalI]f + a^2*mf^2*Sin[\[Psi][t]]^2))*(a*mf*Cos[\[Psi][t]]*vx[t]*(\[Gamma][t] + \[Omega][t]) - a*mf*Sin[\[Psi][t]]*vz[t]*(\[Gamma][t] + \[Omega][t])))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((-(a^2*mf^2*(m + mf)*Cos[\[Psi][t]]^2) + (m + mf)*((m + mf)*(a^2*mf + \[ScriptCapitalI]f + \[Epsilon]) - a^2*mf^2*Sin[\[Psi][t]]^2))*(-\[ScriptR][t] - b*m*vx[t]*\[Omega][t] - a*mf*(Cos[\[Psi][t]]*vx[t] - Sin[\[Psi][t]]*vz[t])*(\[Gamma][t] + \[Omega][t])))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + (\[Gamma][t]*((-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2)*(-(a*mf*Sin[\[Psi][t]]*\[Gamma][t]) - a*mf*Sin[\[Psi][t]]*\[Omega][t]) - a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a*b*m*mf*Cos[\[Psi][t]]*vx[t] - a*b*m*mf*Sin[\[Psi][t]]*vz[t])) + a^2*b*m*mf^2*Cos[\[Psi][t]]*Sin[\[Psi][t]]*(\[Gamma][t] + \[Omega][t])) - (m + mf)*((m + mf)*(-(a*mf*\[Epsilon]*Cos[\[Psi][t]]*vx[t]) + a*mf*\[Epsilon]*Sin[\[Psi][t]]*vz[t]) + a^2*mf^2*\[Epsilon]*Cos[\[Psi][t]]*Sin[\[Psi][t]]*(\[Gamma][t] + \[Omega][t]))))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((a*m*mf*\[Epsilon]*Sin[\[Psi][t]] + a*mf^2*\[Epsilon]*Sin[\[Psi][t]] + a^2*b*m*mf^2*Cos[\[Psi][t]]*Sin[\[Psi][t]])*(-((m + mf)*vz[t]*\[Omega][t]) - b*m*\[Omega][t]^2 - a*mf*Cos[\[Psi][t]]*\[Omega][t]*(\[Gamma][t] + \[Omega][t]) + Subscript[\[ScriptF], 1][t]))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + (((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]]) - a^2*b*m*mf^2*Sin[\[Psi][t]]^2)*((m + mf)*vx[t]*\[Omega][t] + a*mf*Sin[\[Psi][t]]*\[Gamma][t]*\[Omega][t] + a*mf*Sin[\[Psi][t]]*\[Omega][t]^2 + Subscript[\[ScriptF], 2][t]))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))), (((b*m + a*mf*Cos[\[Psi][t]])*(b*m^2 + b*m*mf + a*m*mf*Cos[\[Psi][t]] + a*mf^2*Cos[\[Psi][t]]) + (m + mf)*((m + mf)*(-(b^2*m) - a^2*mf - \[ScriptCapitalI] - \[ScriptCapitalI]f) + a^2*mf^2*Sin[\[Psi][t]]^2))*(a*mf*Cos[\[Psi][t]]*vx[t]*(\[Gamma][t] + \[Omega][t]) - a*mf*Sin[\[Psi][t]]*vz[t]*(\[Gamma][t] + \[Omega][t])))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((a*mf*(m + mf)*Cos[\[Psi][t]]*(b*m + a*mf*Cos[\[Psi][t]]) - (m + mf)*(a^2*m*mf + a^2*mf^2 + m*\[ScriptCapitalI]f + mf*\[ScriptCapitalI]f - a^2*mf^2*Sin[\[Psi][t]]^2))*(-\[ScriptR][t] - b*m*vx[t]*\[Omega][t] - a*mf*(Cos[\[Psi][t]]*vx[t] - Sin[\[Psi][t]]*vz[t])*(\[Gamma][t] + \[Omega][t])))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + (\[Gamma][t]*(-((-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2)*(-(a*mf*Sin[\[Psi][t]]*\[Gamma][t]) - a*mf*Sin[\[Psi][t]]*\[Omega][t])) + (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a*b*m*mf*Cos[\[Psi][t]]*vx[t] - a*b*m*mf*Sin[\[Psi][t]]*vz[t])) + a^2*b*m*mf^2*Cos[\[Psi][t]]*Sin[\[Psi][t]]*(\[Gamma][t] + \[Omega][t])) + (m + mf)*((m + mf)*(a*b^2*m*mf*Cos[\[Psi][t]]*vx[t] + a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]]*vx[t] - a*b^2*m*mf*Sin[\[Psi][t]]*vz[t] - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]*vz[t]) + a*mf*Cos[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]])*(\[Gamma][t] + \[Omega][t]))))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((a*b^2*m*mf^2*Sin[\[Psi][t]] + a*m*mf*\[ScriptCapitalI]*Sin[\[Psi][t]] + a*mf^2*\[ScriptCapitalI]*Sin[\[Psi][t]] - a^2*b*m*mf^2*Cos[\[Psi][t]]*Sin[\[Psi][t]])*(-((m + mf)*vz[t]*\[Omega][t]) - b*m*\[Omega][t]^2 - a*mf*Cos[\[Psi][t]]*\[Omega][t]*(\[Gamma][t] + \[Omega][t]) + Subscript[\[ScriptF], 1][t]))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2)*((m + mf)*vx[t]*\[Omega][t] + a*mf*Sin[\[Psi][t]]*\[Gamma][t]*\[Omega][t] + a*mf*Sin[\[Psi][t]]*\[Omega][t]^2 + Subscript[\[ScriptF], 2][t]))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))), (\[Gamma][t]*(-(a^2*b^2*m*mf^3*Cos[\[Psi][t]]*Sin[\[Psi][t]]*vx[t]) - a^2*m*mf^2*\[ScriptCapitalI]*Cos[\[Psi][t]]*Sin[\[Psi][t]]*vx[t] - a^2*mf^3*\[ScriptCapitalI]*Cos[\[Psi][t]]*Sin[\[Psi][t]]*vx[t] - a^2*m*mf^2*\[Epsilon]*Cos[\[Psi][t]]*Sin[\[Psi][t]]*vx[t] - a^2*mf^3*\[Epsilon]*Cos[\[Psi][t]]*Sin[\[Psi][t]]*vx[t] + a^2*b^2*m*mf^3*Sin[\[Psi][t]]^2*vz[t] + a^2*m*mf^2*\[ScriptCapitalI]*Sin[\[Psi][t]]^2*vz[t] + a^2*mf^3*\[ScriptCapitalI]*Sin[\[Psi][t]]^2*vz[t] + a^2*m*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2*vz[t] + a^2*mf^3*\[Epsilon]*Sin[\[Psi][t]]^2*vz[t] + a^3*b^2*m*mf^3*Cos[\[Psi][t]]*\[Gamma][t] + a^3*m*mf^2*\[ScriptCapitalI]*Cos[\[Psi][t]]*\[Gamma][t] + a^3*mf^3*\[ScriptCapitalI]*Cos[\[Psi][t]]*\[Gamma][t] + a*b^2*m*mf^2*\[ScriptCapitalI]f*Cos[\[Psi][t]]*\[Gamma][t] + a*m*mf*\[ScriptCapitalI]*\[ScriptCapitalI]f*Cos[\[Psi][t]]*\[Gamma][t] + a*mf^2*\[ScriptCapitalI]*\[ScriptCapitalI]f*Cos[\[Psi][t]]*\[Gamma][t] + a^3*m*mf^2*\[Epsilon]*Cos[\[Psi][t]]*\[Gamma][t] + a*b^2*m*mf^2*\[Epsilon]*Cos[\[Psi][t]]*\[Gamma][t] + a^3*mf^3*\[Epsilon]*Cos[\[Psi][t]]*\[Gamma][t] + a*m*mf*\[ScriptCapitalI]*\[Epsilon]*Cos[\[Psi][t]]*\[Gamma][t] + a*mf^2*\[ScriptCapitalI]*\[Epsilon]*Cos[\[Psi][t]]*\[Gamma][t] + a*m*mf*\[ScriptCapitalI]f*\[Epsilon]*Cos[\[Psi][t]]*\[Gamma][t] + a*mf^2*\[ScriptCapitalI]f*\[Epsilon]*Cos[\[Psi][t]]*\[Gamma][t] - 2*a^2*b*m*mf^2*\[Epsilon]*Cos[\[Psi][t]]^2*\[Gamma][t] - a^3*b^2*m*mf^3*Cos[\[Psi][t]]^3*\[Gamma][t] - a^3*mf^3*\[ScriptCapitalI]*Cos[\[Psi][t]]^3*\[Gamma][t] - a^3*mf^3*\[Epsilon]*Cos[\[Psi][t]]^3*\[Gamma][t] - a^2*b*m*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2*\[Gamma][t] - a^3*b^2*m*mf^3*Cos[\[Psi][t]]*Sin[\[Psi][t]]^2*\[Gamma][t] - a^3*mf^3*\[ScriptCapitalI]*Cos[\[Psi][t]]*Sin[\[Psi][t]]^2*\[Gamma][t] - a^3*mf^3*\[Epsilon]*Cos[\[Psi][t]]*Sin[\[Psi][t]]^2*\[Gamma][t] + a^3*b^2*m*mf^3*Cos[\[Psi][t]]*\[Omega][t] + a^3*m*mf^2*\[ScriptCapitalI]*Cos[\[Psi][t]]*\[Omega][t] + a^3*mf^3*\[ScriptCapitalI]*Cos[\[Psi][t]]*\[Omega][t] + a*b^2*m*mf^2*\[ScriptCapitalI]f*Cos[\[Psi][t]]*\[Omega][t] + a*m*mf*\[ScriptCapitalI]*\[ScriptCapitalI]f*Cos[\[Psi][t]]*\[Omega][t] + a*mf^2*\[ScriptCapitalI]*\[ScriptCapitalI]f*Cos[\[Psi][t]]*\[Omega][t] + a^3*m*mf^2*\[Epsilon]*Cos[\[Psi][t]]*\[Omega][t] + a*b^2*m*mf^2*\[Epsilon]*Cos[\[Psi][t]]*\[Omega][t] + a^3*mf^3*\[Epsilon]*Cos[\[Psi][t]]*\[Omega][t] + a*m*mf*\[ScriptCapitalI]*\[Epsilon]*Cos[\[Psi][t]]*\[Omega][t] + a*mf^2*\[ScriptCapitalI]*\[Epsilon]*Cos[\[Psi][t]]*\[Omega][t] + a*m*mf*\[ScriptCapitalI]f*\[Epsilon]*Cos[\[Psi][t]]*\[Omega][t] + a*mf^2*\[ScriptCapitalI]f*\[Epsilon]*Cos[\[Psi][t]]*\[Omega][t] - 2*a^2*b*m*mf^2*\[Epsilon]*Cos[\[Psi][t]]^2*\[Omega][t] - a^3*b^2*m*mf^3*Cos[\[Psi][t]]^3*\[Omega][t] - a^3*mf^3*\[ScriptCapitalI]*Cos[\[Psi][t]]^3*\[Omega][t] - a^3*mf^3*\[Epsilon]*Cos[\[Psi][t]]^3*\[Omega][t] - a^2*b*m*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2*\[Omega][t] - a^3*b^2*m*mf^3*Cos[\[Psi][t]]*Sin[\[Psi][t]]^2*\[Omega][t] - a^3*mf^3*\[ScriptCapitalI]*Cos[\[Psi][t]]*Sin[\[Psi][t]]^2*\[Omega][t] - a^3*mf^3*\[Epsilon]*Cos[\[Psi][t]]*Sin[\[Psi][t]]^2*\[Omega][t]))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((a*b^2*m*mf^2*Sin[\[Psi][t]] + a*m*mf*\[ScriptCapitalI]*Sin[\[Psi][t]] + a*mf^2*\[ScriptCapitalI]*Sin[\[Psi][t]] - a^2*b*m*mf^2*Cos[\[Psi][t]]*Sin[\[Psi][t]])*(a*mf*Cos[\[Psi][t]]*vx[t]*(\[Gamma][t] + \[Omega][t]) - a*mf*Sin[\[Psi][t]]*vz[t]*(\[Gamma][t] + \[Omega][t])))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((-(a*m*mf*\[Epsilon]*Sin[\[Psi][t]]) - a*mf^2*\[Epsilon]*Sin[\[Psi][t]] - a^2*b*m*mf^2*Cos[\[Psi][t]]*Sin[\[Psi][t]])*(-\[ScriptR][t] - b*m*vx[t]*\[Omega][t] - a*mf*(Cos[\[Psi][t]]*vx[t] - Sin[\[Psi][t]]*vz[t])*(\[Gamma][t] + \[Omega][t])))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((-(a^2*b^2*m*mf^2) - a^2*m*mf*\[ScriptCapitalI] - a^2*mf^2*\[ScriptCapitalI] - b^2*m*mf*\[ScriptCapitalI]f - m*\[ScriptCapitalI]*\[ScriptCapitalI]f - mf*\[ScriptCapitalI]*\[ScriptCapitalI]f - a^2*m*mf*\[Epsilon] - b^2*m*mf*\[Epsilon] - a^2*mf^2*\[Epsilon] - m*\[ScriptCapitalI]*\[Epsilon] - mf*\[ScriptCapitalI]*\[Epsilon] - m*\[ScriptCapitalI]f*\[Epsilon] - mf*\[ScriptCapitalI]f*\[Epsilon] + 2*a*b*m*mf*\[Epsilon]*Cos[\[Psi][t]] + a^2*b^2*m*mf^2*Cos[\[Psi][t]]^2 + a^2*mf^2*\[ScriptCapitalI]*Cos[\[Psi][t]]^2 + a^2*mf^2*\[Epsilon]*Cos[\[Psi][t]]^2)*(-((m + mf)*vz[t]*\[Omega][t]) - b*m*\[Omega][t]^2 - a*mf*Cos[\[Psi][t]]*\[Omega][t]*(\[Gamma][t] + \[Omega][t]) + Subscript[\[ScriptF], 1][t]))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((-(a*b*m*mf*\[Epsilon]*Sin[\[Psi][t]]) - a^2*b^2*m*mf^2*Cos[\[Psi][t]]*Sin[\[Psi][t]] - a^2*mf^2*\[ScriptCapitalI]*Cos[\[Psi][t]]*Sin[\[Psi][t]] - a^2*mf^2*\[Epsilon]*Cos[\[Psi][t]]*Sin[\[Psi][t]])*((m + mf)*vx[t]*\[Omega][t] + a*mf*Sin[\[Psi][t]]*\[Gamma][t]*\[Omega][t] + a*mf*Sin[\[Psi][t]]*\[Omega][t]^2 + Subscript[\[ScriptF], 2][t]))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))), ((-(a^2*b*m^2*mf) - a^2*b*m*mf^2 - b*m^2*\[ScriptCapitalI]f - b*m*mf*\[ScriptCapitalI]f + a*b^2*m^2*mf*Cos[\[Psi][t]] + a*b^2*m*mf^2*Cos[\[Psi][t]] + a*m*mf*\[ScriptCapitalI]*Cos[\[Psi][t]] + a*mf^2*\[ScriptCapitalI]*Cos[\[Psi][t]] + a^2*b*m*mf^2*Sin[\[Psi][t]]^2)*(a*mf*Cos[\[Psi][t]]*vx[t]*(\[Gamma][t] + \[Omega][t]) - a*mf*Sin[\[Psi][t]]*vz[t]*(\[Gamma][t] + \[Omega][t])))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((-(a^2*b*m^2*mf) - a^2*b*m*mf^2 - b*m^2*\[ScriptCapitalI]f - b*m*mf*\[ScriptCapitalI]f - b*m^2*\[Epsilon] - b*m*mf*\[Epsilon] - a*m*mf*\[Epsilon]*Cos[\[Psi][t]] - a*mf^2*\[Epsilon]*Cos[\[Psi][t]] + a^2*b*m*mf^2*Sin[\[Psi][t]]^2)*(-\[ScriptR][t] - b*m*vx[t]*\[Omega][t] - a*mf*(Cos[\[Psi][t]]*vx[t] - Sin[\[Psi][t]]*vz[t])*(\[Gamma][t] + \[Omega][t])))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + (\[Gamma][t]*(-(((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))*(-(a*mf*Sin[\[Psi][t]]*\[Gamma][t]) - a*mf*Sin[\[Psi][t]]*\[Omega][t])) + (b*m + a*mf*Cos[\[Psi][t]])*((m + mf)*(-(a*mf*\[Epsilon]*Cos[\[Psi][t]]*vx[t]) + a*mf*\[Epsilon]*Sin[\[Psi][t]]*vz[t]) + a^2*mf^2*\[Epsilon]*Cos[\[Psi][t]]*Sin[\[Psi][t]]*(\[Gamma][t] + \[Omega][t])) - a*mf*Cos[\[Psi][t]]*((m + mf)*(a*b^2*m*mf*Cos[\[Psi][t]]*vx[t] + a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]]*vx[t] - a*b^2*m*mf*Sin[\[Psi][t]]*vz[t] - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]*vz[t]) + a*mf*Cos[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]])*(\[Gamma][t] + \[Omega][t]))))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + ((-(a*b*m*mf*\[Epsilon]*Sin[\[Psi][t]]) - a^2*b^2*m*mf^2*Cos[\[Psi][t]]*Sin[\[Psi][t]] - a^2*mf^2*\[ScriptCapitalI]*Cos[\[Psi][t]]*Sin[\[Psi][t]] - a^2*mf^2*\[Epsilon]*Cos[\[Psi][t]]*Sin[\[Psi][t]])*(-((m + mf)*vz[t]*\[Omega][t]) - b*m*\[Omega][t]^2 - a*mf*Cos[\[Psi][t]]*\[Omega][t]*(\[Gamma][t] + \[Omega][t]) + Subscript[\[ScriptF], 1][t]))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))) + (((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]]))*((m + mf)*vx[t]*\[Omega][t] + a*mf*Sin[\[Psi][t]]*\[Gamma][t]*\[Omega][t] + a*mf*Sin[\[Psi][t]]*\[Omega][t]^2 + Subscript[\[ScriptF], 2][t]))/(a*mf*Cos[\[Psi][t]]*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f - a*b^2*m*mf*Cos[\[Psi][t]] - a*mf*\[ScriptCapitalI]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) - (b*m + a*mf*Cos[\[Psi][t]])*(-((m + mf)*(a^2*b*m*mf + b*m*\[ScriptCapitalI]f + b*m*\[Epsilon] + a*mf*\[Epsilon]*Cos[\[Psi][t]])) + a^2*b*m*mf^2*Sin[\[Psi][t]]^2) + (m + mf)*((m + mf)*(-(a^2*b^2*m*mf) - a^2*mf*\[ScriptCapitalI] - b^2*m*\[ScriptCapitalI]f - \[ScriptCapitalI]*\[ScriptCapitalI]f - b^2*m*\[Epsilon] - a^2*mf*\[Epsilon] - \[ScriptCapitalI]*\[Epsilon] - \[ScriptCapitalI]f*\[Epsilon]) + a^2*mf^2*\[Epsilon]*Sin[\[Psi][t]]^2 - a*mf*Sin[\[Psi][t]]*(-(a*b^2*m*mf*Sin[\[Psi][t]]) - a*mf*\[ScriptCapitalI]*Sin[\[Psi][t]])))}, {\[Theta][t], \[Psi][t], \[Omega][t], \[Gamma][t]}}, {\[Theta][t], \[Psi][t], x[t], z[t], \[Omega][t], \[Gamma][t], vx[t], vz[t]}, {\[ScriptR][t], Subscript[\[ScriptF], 1][t], Subscript[\[ScriptF], 2][t]}, Automatic, t]