My Project

Here's a block formula:

\[ \hat q = [\boldsymbol 0, 1] + \epsilon [\frac{\boldsymbol v}{2}, 0] \]

And $ \hat q $ is how quaternion is denoted.

\[ a^2 + b^2 = c^2 \]

$c^2$ should be part of a new paragraph, not stuck out of it. The following formula has a custom environment:

\begin{eqnarray*} g &=& \frac{Gm_2}{r^2} \\ &=& 9.82066032\,\mbox{m/s}^2 \end{eqnarray*}