${[*]}^A$	* (model, vector or tensor) expressed in arbitrary reference frame A (Inertial (I), central body (B) and abdominal (T) reference frames in text)
A	Arbitrary Rigid body A (Central body (B), abdomen (T) or whole aircraft (C) in text)
${\left[R\right]}^{BA}$	The rotation matrix from reference frame A to B
b, t, j, c	Locations of the centre of mass of the central body, tail, tail joint and whole aircraft, respectively
$s_{ab},S_{ab}$	Displacement, skew-symmetric matrix of displacement of point a relative to point b (m)
$V_A^B$	Velocity of point A relative to point B ($m/s$)
$m^A,m$	Mass of rigid body $A$, total mass of the aircraft, respectively ($kg$)
$I_a^A$	Inertia tensor of rigid body A about point a (${\mathrm{kg} \mathrm{m}}^2$)
${\omega }^{AB},{\Omega }^{AB}$	Angular velocity, skew symmetric matrix of angular velocity of frame A relative to frame B, respectively ($rad/s$)
F	External force vector (N)
M	External moment vector (N m)
Superscripts
$\dot{}$	First-order time derivative
$¨$	Second-order time derivative