Trying Typical Algorithms

# Typical Algorithm from what https://homes.cs.washington.edu/~todorov/courses/amath533/FeatherstoneOrin00.pdf says...
# On w/ the typical algorithm

for i = 1 to N do
    vi = vλ(i) +hi ˙qi;
    ai = aλ(i) + ˙hi ˙qi + hi ¨qi
end

# Promising? Maybe...useful so far? Nope!