Dyn:

Path: SC/DemoFuns

% Returns the mass and right hand side of the dynamics equations.

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   Form:
   [M, Q] = Dyn( x, t, dynData ) 
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   ------
   Inputs
   ------
   x            (8,1)     The state vector [x1;y1;x2;y2;x1Dot..]
   t                      Time
   dynData      (1,3)     [m1 m2 g]

   -------
   Outputs
   -------
   M            (4,4)     The mass matrix
   Q            (4,1)     The right hand side

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