Text this: Structural analysis of a helicopter dynamic model using the special coordinate basis decomposition

  ____      _____     _  _     ______    _____   
 |  _ \\   |  ___||  | \| ||  /_   _//  |__  //  
 | |_| ||  | ||__    |  ' ||   -| ||-     / //   
 | .  //   | ||__    | .  ||   _| ||_    / //__  
 |_|\_\\   |_____||  |_|\_||  /_____//  /_____|| 
 `-` --`   `-----`   `-` -`   `-----`   `-----`