Adding scaling to the theory section.
Adding scaling to the theory section.

simbody/simbody,elkingtonmcb/simbody,elkingtonmcb/simbody,chrisdembia/simbody,Gjacquenot/simbody,Gjacquenot/simbody,Gjacquenot/simbody,robojukie/simbody,simbody/simbody,scamille/simbody,scamille/simbody,elkingtonmcb/simbody,scamille/simbody,elen4/simbody,robojukie/simbody,chrisdembia/simbody,robojukie/simbody,elen4/simbody,chrisdembia/simbody