“…Curvilinear normal modes Q describe a particular transformation of q: q=LQ, (2) or where Q = cQl,Q2,...,QM} denotes a column vector for the CNM, and L and S are the transformation matrices. The transformation matrix L diagonalizes both G' O' and Fc2' simultaneously,and,in general, the constant factors of Q are chosen so that the transformed matrix W -' (q,) = LtG -' (qo)L is a unit matrix, and so that the trans-…”