fixed minor mistake in formula
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@ -87,8 +87,7 @@ We now expand the bracket on the left-hand side using the equations \ref{eq:va2}
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\]
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Using the triple scalar product rule, we can derive that
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\[
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j \left( 1/m_a + 1/m_b + \frac{\left(( \vec r_{ap} \times \vec n
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)^2\right)}{I_a} + \frac{\left( \vec r_{bp} \times \vec n \right)^2}{I_b}
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j \left( \frac{1}{m_a} + \frac{1}{m_b} + \frac{\left(\vec r_{ap} \times \vec n\right)^2}{I_a} + \frac{\left( \vec r_{bp} \times \vec n \right)^2}{I_b}
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\right) = -(1+e) \vec v_{p1} \cdot \vec n
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\]
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and therefore
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