i H = ( 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 ) , i a → → ⋅ ⋅ P → → = ( 0 0 0 0 a 1 0 0 0 0 a 2 0 0 0 0 a 3 0 0 0 0 0 0 0 0 0 0 ) , i v → → ⋅ ⋅ C → → = ( 0 0 0 v 1 0 0 0 0 v 2 0 0 0 0 v 3 0 0 0 0 0 0 0 0 0 0 0 ) , i θ θ i ϵ ϵ i j k L j k = ( 0 θ θ 3 − − θ θ 2 0 0 − − θ θ 3 0 θ θ 1 0 0 θ θ 2 − − θ θ 1 0 0 0 0 0 0 0 0 0 0 0 0 0 ) .