where R(2,0) is a homogeneous quadratic function of q`1, q`2, ...
q`_m, R(0,2) is a homogeneous quadratic function of [kappa], [kappa]',
[kappa]", ..., whilst R(1,1) consists of products of the velocities
q`1, q`2, ... q`_m into the momenta [kappa], [kappa]', [kappa]"....
Hence from (3) and (7) we have
/ dPR dPR dPR \
[Tau] = R - ( [kappa] --------- + [kappa]'---------- + [kappa]" ---------- + ...)
\ dP[kappa] dP[kappa]' dP[kappa]" /
= R(2,0) - R(0,2). (10)