(r_pi)_i − 1 = A_i • (r_pi)_i

(V_pi)_i − 1 = Q_i • (r_pi)_i − 1(V_pi)_i − 2 = Q_i − 1 • (r_pi)_i − 2 + A_i − 1 • (V_pi)_i − 1

$${\left( a_{p_{i}} \right)_{i - 1} = \left( {\dot{Q}}_{i} + Q_{i}^{2} \right) \bullet \left( r_{p_{i}} \right)_{i - 1}}{\left( a_{p_{i}} \right)_{i - 2} = \left( {\dot{Q}}_{i - 1} + Q_{i - 1}^{2} \right) \bullet \left( r_{p_{i}} \right)_{i - 2} + \backslash n}{\ \ \ \ \ \ \ \ \ \ \ + A_{i - 1}{(a_{p_{i}})}_{i - 1} + 2Q_{i - 1}A_{i - 1}{(V_{p_{i}})}_{i - 1}}$$