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Thus the driving torque required on the haltere is

Due to yaw, a, there will be a moment at the base of the haltere in the YZ plane, Ma. This moment is found by

A. = (l/2)MR2a + (l/2)MR2a cos(2. ) + (l/2)MR2 [-2sin(2. )]. a 2.7-20 Thus,

M a = a MR2 cos2 [. ^sin(. .j)] aMR2- m • mcos(. mt )sin[2. m sm(. mt)] ^21 Compare Ma with M^:

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