\(\left\{\begin{matrix}\begin{matrix}\dot{X}\ \left(\tau\right)=\ T\ \left(\tau\right)\dot{x}\left(t\right),\\ \dot{Y}\ \left(\tau\right)=\ T\ \left(\tau\right)\dot{y}\left(t\right),\\ \end{matrix}\\ \dot{\mathcal{M}}\ \left(\tau\right)=\ T\ \left(\tau\right)\dot{M}\left(t\right),\\ \dot{V_{m}}\ \left(\tau\right)=\ T\ \left(\tau\right){\dot{v}}_{m}\left(t\right).\\ \end{matrix}\right.\ \) (27)