In the attached image, how are equations 1, 2, 3 and 4 used to come to the final equation of 5 and 6? Im suspecting it has something to do with the derivative with respect to t, but I dont know how they remove it to get the final solution. Am I missing something incredibly simple that is not worth mentioning in the text?(adsbygoogle = window.adsbygoogle || []).push({});

The image was taken from http://www.r8sac.org/files/SPC/bugeja.pdf [Broken] if further information is needed.

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# Equation substitution

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