https://s0.wp.com/latex.php?latex=%5Cmathbf%7Bj%5Ccdot+%5Chat%7Br%7D_%7Bpatch%7D%7D+%3D+%5Cbegin%7Barray%7D%7Bc%7D+%28A%2BC%29+%5Csin%7Bt%28%5Comega_%7Bd%7D-%5Comega_%7By%7D%2B%5Comega_%7Bp%7D%29%7D%2B+%5C%5C+%28A-C%29+%5Csin%7Bt%28%5Comega_%7Bd%7D+%2B+%5Comega_%7By%7D+-+%5Comega_%7Bp%7D%29%7D+%2B+%5C%5C+B+%5Ccos%7Bt%28%5Comega_%7Bp%7D+-+%5Comega_%7By%7D%29%7D+%5Cend%7Barray%7D+&bg=ffffff&fg=888888&s=0