This is the final version, in which the equations of motion in the (r, phi) frame are updated to be the same as the boxed equations of motion in (r phi) in Section 3. The relevant and self consistent equations of motion in are those in the frame (r1, phi), and these are given and boxed in Section 3.

a416thpaper.pdf

a416thpapernotes1.pdf

a416thpapernotes2.pdf

a416thpapernotes3.pdf

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