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Re: paper: MINIBOT acceleration solution
If only these equations didn't require some backwards-thinking Lambert-W function to solve them for [t]. Ether, would it be possible to use your equation-solving software to do so? Wolfram-Alpha keeps putting the Lambert-W function in the results and I can't find a generic approximation that doesn't spiral out of control. nsolve should work in Mathematica, but on WolframAlpha it's just like solve.
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