APPENDIX A
Values of \({{L}_{i}}\)’s used in Eq. (1)
$${{L}_{1}} = \frac{r}{2}\cos \phi (1 - \cos \lambda ) - \frac{{{{r}_{{20}}}}}{{4{\kern 1pt} \mu }}\sin (2\phi )\sin (2\lambda )\sin \nu ,$$
$${{L}_{2}} = \frac{r}{2}\cos \phi (1 + \cos \lambda ) + \frac{{{{r}_{{20}}}}}{{4\mu }}\sin (2\phi )\sin (2\lambda )\sin \nu ,$$
$${{L}_{3}} = \frac{{ - {{r}_{{20}}}}}{\mu }\cos \nu \left( {1 + \frac{{{{{\cos }}^{2}}\phi }}{2}} \right),$$
$${{L}_{4}} = \frac{{ - R}}{4}{{\cos }^{2}}\phi (1 + \cos \lambda ),$$
$${{L}_{5}} = \frac{{ - R}}{4}{{\cos }^{2}}\phi (1 - \cos \lambda ),$$
$${{L}_{6}} = \frac{{ - {{r}_{{20}}}}}{{4\mu }}{{\cos }^{2}}\phi \cos \nu (1 - \sin \lambda ),$$
$${{L}_{7}} = \frac{{ - {{r}_{{20}}}}}{{4\mu }}{{\cos }^{2}}\phi \cos \nu (1 + \sin \lambda ),$$
$${{L}_{8}} = \frac{{ - R}}{4}{{\cos }^{2}}\phi ,$$
$${{L}_{9}} = \frac{{ - R}}{4}{{\cos }^{2}}\phi - \frac{R}{2}{{\sin }^{2}}\lambda {{\sin }^{2}}\phi ,$$
$${{L}_{{10}}} = \frac{R}{8}{{\cos }^{2}}\phi {{\cos }^{2}}\lambda ,$$
$${{L}_{{11}}} = \frac{R}{8}{{\cos }^{2}}\phi {{\cos }^{2}}\lambda ,$$
$${{L}_{{12}}} = \frac{{ - R}}{4}{{\cos }^{2}}\phi {{\cos }^{2}}\lambda ,$$
$${{L}_{{13}}} = \frac{{ - R}}{4}{{\cos }^{2}}\phi {{\cos }^{2}}\lambda ,$$
$$\begin{gathered} {{L}_{{14}}} = - r\sin \lambda \sin \phi - \frac{{{{r}_{{20}}}\sin \nu }}{\mu } \\ \times \;\left( {1 + {{{\sin }}^{2}}\lambda {{{\sin }}^{2}}\phi + \frac{{{{{\cos }}^{2}}\phi {{{\cos }}^{2}}\lambda }}{2}} \right), \\ \end{gathered} $$
$${{L}_{{15}}} = \frac{{ - R}}{4}\sin 2\phi \sin \lambda (1 - \cos \lambda ),$$
$${{L}_{{16}}} = \frac{{ - R}}{4}\sin 2\phi \sin \lambda (1 + \cos \lambda ),$$
$${{L}_{{17}}} = \frac{{ - {{r}_{{20}}}}}{{4{\kern 1pt} \mu }}{{\cos }^{2}}\phi \cos \lambda \sin \nu (1 + \cos \lambda ),$$
$${{L}_{{18}}} = \frac{{{{r}_{{20}}}}}{{4\mu }}{{\cos }^{2}}\phi \cos \lambda \sin \nu (1 + \cos \lambda ),$$
$${{L}_{{19}}} = \frac{{{{r}_{{20}}}}}{{4\mu }}{\kern 1pt} \sin 2\phi \sin \lambda (\sin \nu + \cos \nu ),$$
$${{L}_{{20}}} = \frac{{ - {{r}_{{20}}}}}{{4{\kern 1pt} \mu }}\sin 2\phi \sin \lambda (\sin \nu + \cos \nu ),$$
$${{L}_{{21}}} = \frac{{ - R}}{4}\sin 2\phi \sin 2\lambda ,$$
$${{L}_{{22}}} = {{\sin }^{2}}\lambda \left( {{{{\sin }}^{2}}\phi - \frac{{{{{\cos }}^{2}}\phi }}{2}} \right).$$
APPENDIX B
Values of \({{M}_{i}}\)’s used in Eq. (2)
$${{M}_{1}} = \frac{{ - {{r}_{{20}}}}}{{2\mu }}\cos \phi \cos \lambda \sin \nu ,$$
$${{M}_{2}} = \frac{{ - {{r}_{{20}}}}}{{4\mu }}\cos \phi \cos \lambda \sin \nu ,$$
$${{M}_{3}} = \frac{{ - {{r}_{{20}}}}}{{4\mu }}\cos \phi \cos \lambda \sin \nu ,$$
$${{M}_{4}} = \frac{R}{4}\sin \phi \left( {\frac{{\sin 2\lambda }}{2} - \sin \lambda } \right),$$
$${{M}_{5}} = \frac{R}{4}\sin \phi \left( {\frac{{\sin 2\lambda }}{2} + \sin \lambda } \right),$$
$${{M}_{6}} = \frac{{ - R}}{4}\sin \phi \sin 2\lambda ,$$
$${{M}_{7}} = \frac{R}{4}\cos \phi ({{\cos }^{2}}\lambda - 1),$$
$${{M}_{8}} = \frac{R}{8}\cos \phi \cos \lambda (1 - \cos \lambda ),$$
$${{M}_{9}} = \frac{{ - R}}{4}\cos \phi \left( {1 + \frac{{{{{\cos }}^{2}}\lambda }}{2} + \cos \lambda } \right),$$
$${{M}_{{10}}} = \frac{R}{4}\cos \phi (1 - \cos \lambda ),$$
$${{M}_{{11}}} = \frac{{ - {{r}_{{20}}}}}{{4{\kern 1pt} \mu }}{{\cos }^{2}}\lambda \cos \phi \sin \nu ,$$
$${{M}_{{12}}} = \frac{{{{r}_{{20}}}}}{{2{\kern 1pt} \mu }}{\kern 1pt} \left( {\cos \nu - \frac{{{{{\cos }}^{2}}\lambda \sin \nu }}{2}} \right),$$
$${{M}_{{13}}} = \frac{{{{r}_{{20}}}}}{{2{\kern 1pt} \mu }}\cos \phi \cos \nu ,$$
$${{M}_{{14}}} = \frac{{{{r}_{{20}}}}}{{2{\kern 1pt} \mu }}{\kern 1pt} \left( {\sin \lambda \sin \phi \cos \nu + \frac{{\sin 2\lambda \sin \nu }}{2}} \right),$$
$${{M}_{{15}}} = \frac{{{{r}_{{20}}}}}{{2\mu }}\left( {\sin \lambda \sin \phi \cos \nu - \frac{{\sin 2\lambda \sin \nu }}{2}} \right).$$
APPENDIX C
Values of \({{P}_{i}}\)’s used in Eq. (6)
$${{P}_{1}} = - \frac{{12J_{2}^{{(2)}}{{g}_{0}}R_{0}^{4}{{{\cos }}^{2}}\phi }}{{r_{c}^{3}}}\frac{B}{{{{B}^{2}} + 4{{{\dot {\gamma }}}^{2}}}},$$
$${{P}_{2}} = \frac{{12J_{2}^{{(2)}}{{g}_{0}}R_{0}^{4}{{{\cos }}^{2}}{{\phi }_{m}}}}{{r_{{em}}^{4}}}\left( {\frac{{2{{{\dot {\theta }}}_{E}}\dot {\gamma }}}{{{{B}^{2}} + 4{{{\dot {\gamma }}}^{2}}}} - \frac{3}{4}} \right),$$
$$\begin{gathered} {{P}_{3}} = \frac{{6{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{1}}}}{{R({{B}^{2}} + {{{\dot {\alpha }}}^{2}})}} \\ - \;\frac{{6{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{3}}\cos \phi {{M}_{{13}}}}}{{R({{B}^{2}} + {{{\dot {\alpha }}}^{2}})}} + \frac{{3{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}{{L}_{3}}}}{R}, \\ \end{gathered} $$
$$\begin{gathered} {{P}_{4}} = \frac{{6{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{2}}}}{{R({{B}^{2}} + {{{(2{{{\dot {\theta }}}_{E}} + \dot {\alpha })}}^{2}})}} \\ - \;\frac{{6{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi (2{{{\dot {\theta }}}_{E}} + \dot {\alpha }){\kern 1pt} {{M}_{{11}}}}}{{R{\kern 1pt} ({{B}^{2}} + {{{(2{{{\dot {\theta }}}_{E}} + \dot {\alpha })}}^{2}})}} + \frac{{3{{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{6}}}}{R}, \\ \end{gathered} $$
$$\begin{gathered} {{P}_{5}} = \frac{{6{\kern 1pt} {{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{3}}}}{{R({{B}^{2}} + {{{(2{{{\dot {\theta }}}_{E}} - \dot {\alpha })}}^{2}})}} \\ - \;\frac{{6{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi (2{{{\dot {\theta }}}_{E}} - \dot {\alpha }){{M}_{{12}}}}}{{R({{B}^{2}} + {{{(2{{{\dot {\theta }}}_{E}} - \dot {\alpha })}}^{2}})}} + \frac{{3{{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{7}}}}{R}, \\ \end{gathered} $$
$${{P}_{6}} = \frac{{6{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{4}}}}{{R{\kern 1pt} ({{B}^{2}} + {{{({{{\dot {\theta }}}_{E}} + 2\dot {\alpha })}}^{2}})}},$$
$${{P}_{7}} = \frac{{6{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{5}}}}{{R({{B}^{2}} + {{{({{{\dot {\theta }}}_{E}} - 2\dot {\alpha })}}^{2}})}},$$
$${{P}_{8}} = \frac{{6{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{6}}}}{{R{\kern 1pt} ({{B}^{2}} + \dot {\theta }_{E}^{2})}},$$
$${{P}_{9}} = \frac{{ - 12{\kern 1pt} {{r}_{c}}\dot {\theta }_{E}^{2}{{{\dot {\alpha }}}^{2}}\cos \phi {{M}_{7}}}}{{R{\kern 1pt} ({{B}^{2}} + 4\dot {\theta }_{E}^{2})}} + \frac{{3{\kern 1pt} {{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{8}}}}{R},$$
$${{P}_{{10}}} = \frac{{ - 12{\kern 1pt} {{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi {\kern 1pt} ({{{\dot {\theta }}}_{E}} + \dot {\alpha }){{M}_{8}}}}{{R{\kern 1pt} ({{B}^{2}} + 4({{{\dot {\theta }}}_{E}} + \dot {\alpha }{{)}^{2}})}} + \frac{{3{{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{4}}}}{R},$$
$${{P}_{{11}}} = \frac{{ - 12{\kern 1pt} {{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi {\kern 1pt} ({{{\dot {\theta }}}_{E}} - \dot {\alpha }){{M}_{9}}}}{{R{\kern 1pt} ({{B}^{2}} + 4({{{\dot {\theta }}}_{E}} - \dot {\alpha }{{)}^{2}})}} + \frac{{3{{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{5}}}}{R},$$
$${{P}_{{12}}} = \frac{{ - 12{\kern 1pt} {{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{3}}\cos \phi {{M}_{{10}}}}}{{R{\kern 1pt} ({{B}^{2}} + 4{{{\dot {\alpha }}}^{2}})}} + \frac{{3{{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{9}}}}{R},$$
$${{P}_{{13}}} = \frac{{ - 6{\kern 1pt} {{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi {\kern 1pt} ({{{\dot {\theta }}}_{E}} + \dot {\alpha }){{M}_{{14}}}}}{{R{\kern 1pt} ({{B}^{2}} + {{{({{{\dot {\theta }}}_{E}} + \dot {\alpha })}}^{2}})}} + \frac{{3{{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{1}}}}{R},$$
$${{P}_{{14}}} = \frac{{ - 6{\kern 1pt} {{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi {\kern 1pt} ({{{\dot {\theta }}}_{E}} - \dot {\alpha }){{M}_{{15}}}}}{{R{\kern 1pt} ({{B}^{2}} + {{{({{{\dot {\theta }}}_{E}} - \dot {\alpha })}}^{2}})}} + \frac{{3{{r}_{c}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}{{L}_{2}}}}{R},$$
$${{P}_{{15}}} = \frac{{3{\kern 1pt} {{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{{10}}}}}{R},$$
$${{P}_{{16}}} = \frac{{3{\kern 1pt} {{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{{11}}}}}{R},$$
$${{P}_{{17}}} = \frac{{3{\kern 1pt} {{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{{12}}}}}{R},$$
$${{P}_{{18}}} = \frac{{3{\kern 1pt} {{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{{13}}}}}{R},$$
$$\begin{gathered} {{P}_{{19}}} = \frac{{6{\kern 1pt} {{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi }}{{R({{B}^{2}} + {{{\dot {\alpha }}}^{2}})}}(\dot {\alpha }{\kern 1pt} {{M}_{1}} + B{\kern 1pt} {{M}_{{13}}}) \\ + \;\frac{{3{{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{{14}}}}}{R}, \\ \end{gathered} $$
$$\begin{gathered} {{P}_{{20}}} = \frac{{6{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi {\kern 1pt} }}{{R{\kern 1pt} ({{B}^{2}} + {{{(2{{{\dot {\theta }}}_{E}} + \dot {\alpha })}}^{2}})}}((2{{{\dot {\theta }}}_{E}} + \dot {\alpha }){\kern 1pt} {{M}_{2}} + B{{M}_{{11}}}) \\ + \;\frac{{3{{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{{17}}}}}{R}, \\ \end{gathered} $$
$$\begin{gathered} {{P}_{{21}}} = \frac{{6{{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi }}{{R{\kern 1pt} ({{B}^{2}} + {{{(2{{{\dot {\theta }}}_{E}} - \dot {\alpha })}}^{2}})}}((2{{{\dot {\theta }}}_{E}} - \dot {\alpha }){\kern 1pt} {{M}_{3}} + B{{M}_{{12}}}) \\ + \;\frac{{3{{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{{18}}}}}{R}, \\ \end{gathered} $$
$${{P}_{{22}}} = \frac{{6{\kern 1pt} {{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi {\kern 1pt} ({{{\dot {\theta }}}_{E}} + 2\dot {\alpha }){{M}_{4}}}}{{R{\kern 1pt} ({{B}^{2}} + {{{({{{\dot {\theta }}}_{E}} + 2\dot {\alpha })}}^{2}})}} + \frac{{3{\kern 1pt} {{r}_{c}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}{{L}_{{15}}}}}{R},$$
$${{P}_{{23}}} = \frac{{6{\kern 1pt} {{r}_{c}}{{{\dot {\theta }}}_{E}}{{{\dot {\alpha }}}^{2}}\cos \phi {\kern 1pt} ({{{\dot {\theta }}}_{E}} + 2\dot {\alpha }){{M}_{5}}}}{{R{\kern 1pt} ({{B}^{2}} + {{{({{{\dot {\theta }}}_{E}} - 2\dot {\alpha })}}^{2}})}} + \frac{{3{\kern 1pt} {{r}_{c}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}{{L}_{{16}}}}}{R},$$
$${{P}_{{24}}} = \frac{{6{\kern 1pt} {{r}_{c}}\dot {\theta }_{E}^{2}{{{\dot {\alpha }}}^{2}}\cos \phi {{M}_{6}}}}{{R{\kern 1pt} ({{B}^{2}} + \dot {\theta }_{E}^{2})}} + \frac{{3{{r}_{c}}{{{\dot {\alpha }}}^{2}}{{L}_{{21}}}}}{R},$$
$${{P}_{{25}}} = \frac{{6{\kern 1pt} {{r}_{c}}{\kern 1pt} {{{\dot {\theta }}}_{E}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{7}}}}{{R{\kern 1pt} ({{B}^{2}} + 4\dot {\theta }_{E}^{2})}},$$
$${{P}_{{26}}} = \frac{{6{\kern 1pt} {{r}_{c}}{\kern 1pt} {{{\dot {\theta }}}_{E}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{8}}}}{{R{\kern 1pt} ({{B}^{2}} + 4({{{\dot {\theta }}}_{E}} + \dot {\alpha }{{)}^{2}})}},$$
$${{P}_{{27}}} = \frac{{6{\kern 1pt} {{r}_{c}}{\kern 1pt} {{{\dot {\theta }}}_{E}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{9}}}}{{R{\kern 1pt} ({{B}^{2}} + 4({{{\dot {\theta }}}_{E}} - \dot {\alpha }{{)}^{2}})}},$$
$${{P}_{{28}}} = \frac{{6{\kern 1pt} {{r}_{c}}{\kern 1pt} {{{\dot {\theta }}}_{E}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{{10}}}}}{{R{\kern 1pt} ({{B}^{2}} + 4{{{\dot {\alpha }}}^{2}})}},$$
$${{P}_{{29}}} = \frac{{6{\kern 1pt} {{r}_{c}}{\kern 1pt} {{{\dot {\theta }}}_{E}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{{14}}}}}{{R{\kern 1pt} ({{B}^{2}} + {{{({{{\dot {\theta }}}_{E}} + \dot {\alpha })}}^{2}})}} + \frac{{3{\kern 1pt} {{r}_{c}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}{{L}_{{19}}}}}{R},$$
$${{P}_{{30}}} = \frac{{6{\kern 1pt} {{r}_{c}}{\kern 1pt} {{{\dot {\theta }}}_{E}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}\cos \phi B{{M}_{{15}}}}}{{R{\kern 1pt} ({{B}^{2}} + {{{({{{\dot {\theta }}}_{E}} - \dot {\alpha })}}^{2}})}} + \frac{{3{\kern 1pt} {{r}_{c}}{\kern 1pt} {{{\dot {\alpha }}}^{2}}{{L}_{{20}}}}}{R}.$$