Before equation 72 , the text should say r cross r dot, not r dot r dot. <img width="611" height="195" alt="Image" src="https://github.com/user-attachments/assets/4365db5f-d5d0-4752-bc4e-fe9ab7b7017b" />
Before equation 72 , the text should say r cross r dot, not r dot r dot.