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{ 1 [ ] 1 1 1 } sωa = r Ωa − -r 1− rab(u)Ωb aa(u) − -r2˙aa(u) − --r2Ra0b0(u)Ωb + --r2Rab0c(u )Ωb Ωc+ 𝒪 (r3) 2 6 6 3 (219 )