dv/dt − θ1w + θ2u = gβ + Y/M,

(5)

dw/dt − θ2u + θ1v = gγ + Z/M,

(6)

and

dh1/dt − θ3h2 + θ2h3 = yZ − zY,

(7)

dh2/dt − θ1h3 + θ3h1 = zX − xZ,

(8)

dh3/dt − θ2h1 + θ1h2 = xY − yX.