125   FastMult(body1->n_C_k,(body1->GetPoint(2))->position,result1);      in ForwardKinematics()
126   FastAdd(result1,body1->r,result1);    in ForwardKinematics()
137   FastTMult(pk_C_k,body1->omega_k,result1);          in ForwardKinematics()
146   FastCross(body1->omega_k,(body1->GetPoint(2))->position,result1);    in ForwardKinematics()
147   FastAdd(body1->v_k,result1,result2);  in ForwardKinematics()
168   FastTMult(pk_C_k,body1->alpha_t,result2);    in ForwardKinematics()
176   FastCross(body1->omega_k,(body1->GetPoint(2))->position,result1);  in ForwardKinematics()
177   FastCross(body1->omega_k,result1,result2);   in ForwardKinematics()
185   FastCross(body1->alpha_t,(body1->GetPoint(2))->position,result4);   in ForwardKinematics()
192   FastTMult(pk_C_k,body1->a_t,result2);  in ForwardKinematics()
221   FastAdd(body2->r,result1,body1->r);  in BackwardKinematics()
234   FastAdd(body2->omega,result2,body1->omega);  in BackwardKinematics()
237   FastSubt(result1,k_w_pk,body1->omega_k);  in BackwardKinematics()
245   FastAdd(result2,result4,body1->v_k);  in BackwardKinematics()
246   FastMult(body1->n_C_k,body1->v_k,body1->v);  in BackwardKinematics()
249   FastCross(body1->omega_k,k_w_pk,result1);  in BackwardKinematics()
251   FastAdd(result1,result2,body1->alpha_t);  in BackwardKinematics()
260   FastCross(point1->position,body1->alpha_t,result1);  in BackwardKinematics()
261   FastCross(point1->position,body1->omega_k,result2);  in BackwardKinematics()
262   FastCross(body1->omega_k,result2,result3);  in BackwardKinematics()
264   FastTripleSum(result5,result1,result3,body1->a_t);  in BackwardKinematics()