$\newcommand{\arraycolsep}[3]{} \newcommand{\dd}[2][]{\frac{d #1}{d #2}} \newcommand{\pp}[2][]{\frac{\partial #1}{\partial #2}} \newcommand{\veci}{\vec{\hat{\bf\imath}}} \newcommand{\vecj}{\vec{\hat{\bf\jmath}}} \newcommand{\utan}{\vec{\hat{t}}} \newcommand{\unormal}{\vec{\hat{n}}} \newenvironment{amatrix}[1]{% \begin{bmatrix} }{% \end{bmatrix} }$