$\"\"$

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Consider $\"\"$ .

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Apply derivative on each side with respect to $\"\"$ .

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$\"\"$

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Differentiation formula: $\"\"$ .

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$\"\"$

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Differentiation rule: $\"\"$ .

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$\"\"$

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Property of vectors: $\"\"$ and $\"\"$ .

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$\"\"$ .

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$\"\"$

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$\"\"$ .