Equations of motion 10.2 Equations of Motion for the Fourteen Constraint Situations. 10.2.1 x-(p sin fJ) < 0. .. 10.2.2 y-(p cos fJ) + P < 10.2.3 x-(psinfJ) + (lsinfJ) < 0 10.2.4 y-(peosfJ) + (leose) + p < 0. 94 10.2.5 x-(psinfJ) < 0 and y-(peosfJ) + p < 0. 9.5 10.2.6 x-(psinfJ) < 0 and x-(psinfJ) + (lsinfJ) < 0 96 10.2.7 x-(psinfJ) < 0 and y-(peosfJ) + (leosfJ) + p < 0 97 10.2.8 y-(peosfJ) + p < 0 and x-(psinfJ) + (lsinfJ) < 0 97 10.2.9 y-(peosfJ) + p < 0 and y-(peosfJ) + (leosfJ) + p < 0 98 10.2.10x-(psinfJ) + (lsine) < 0 and y-(peose) + (leose)-: p < 0 99 10.2.l1x-(psinfJ) < 0, y-(peosfJ)+p < 0 and x-(psinfJ)+(lsinfJ) < o. .