%Constants:
x (1)= 0;
a (1)= 0;
t(1) =0;
v (1)=0;


% Initial conditions:
x(2) = xd;
a(2) = ((((( 6 k (h ((( x (2) A2)+(L A2)) A.5) + dely) (cos (( atan ( L / x(2)))))) )-
( 3 *wp jj )-(6 *ws (jj- 1)))- (3 wts (sin (((2 atan (L /x(2))))))))/ ((3 *
mc jj ) + ( 6 (mbs + mts) (jj 1))));
t(2) =0.0001;
av (2) a (2)/ 2;
v (2) =av(2)* t (2);
T(1) =0;
T(2) =0;


for i = 3 :(((L xd ) /.01) + 1)
x(i) =x(i- 1)+.01;
a (i) = ((((( 2 k ( h (((x (i) A2) + (L A2)) .5) + dely) ( cos (( atan (L / x (i)))))) ) (
1 wp jj )-(2 *ws *(jj- 1)))- ( wts ( sin (((2 atan (L/ x (i)))))))) / (( 1 mc*
jj) + ( 2 (mbs + mts) *(jj- 1))));
av (i) = (a (i- 1) + a(i))/ 2;
t(i) =(-v(i 1)+((v(i 1)) 2 + ( 4 av (i) (x (i) x ( i 1))))A .5)/(2 av (i));
v(i) =v(i- 1)+ av (i) t (i);
T(i) = T (i- 1)+t(i);
end
%Approximation method
mint = min (t (i));
X = T (i) / mint;
mingt = GT / X;