The additional constraint they apply on large animals, which oscillate their length L with some frequency f, is that there is a maximum angular acceleration that can be applied. The maximum torque depends on the muscle fibre force, the cross sectional area, and the length of the "lever arm," while the moment of inertia depends on the density, volume, and distribution of the shape. Comparing torque to moment of inertia they get a second-order ODE for the angle of the oscillating part (tail, leg, whatever) over time, which they integrate to find the time required to oscillate to a certain angle. This gives them an *absolute* maximum speed. So they compare their "maximum speed per body length" to the "absolute maximum speed" and solve for the body length at which the two are equal.
Hope that made sense. Picturing a cheetah, they are about 1.4 meters long, and plugging in their values for the "maximum speed" you actually get a fast jog, about 4 m/s. If you apply 10 bodies/second to 1.4 meters, you get 14 m/s=50 km/h which is about half a cheetah's top speed.