The constrained dynamics equation for two spacecraft docking system is established.
建立了两个航天器对接系统的约束动力学方程。
The satellite dynamics equation and kinematic equations are built with the method of quaternion.
用四元数方法建立起卫星动力学方程和运动学方程。
The Vortex Dynamics Equation is developed for compressible flow and its characteristics are analyzed.
推导了可压缩流动旋涡动力学基本方程，并分析了其基本性质。
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