Inline Math

• $(a+b)^2$ = $a^2 + 2ab + b^2$
• A polynomial P of degree d over $\mathbb{F}_p$ is an expression of the form $P(s) = a_0 + a_1 . s + a_2 . s^2 + ... + a_d . s^d$ for some $a_0,..,a_d \in \mathbb{F}_p$

Displayed Math

$$ p := (\sum_{k∈I}{c_k.v_k} + \delta_v.t(x))·(\sum_{k∈I}{c_k.w_k} + \delta_w.t(x)) − (\sum_{k∈I}{c_k.y_k} + \delta_y.t(x)) $$

A more complex example

$$ \sum_{i=1}^{N_K}{ \begin{bmatrix} \left(\frac{\partial_R \mathbf{v}_s}{\partial \dot{\mathbf{s}}} \right)^T & \left(\frac{\partial_R \mathbf{\omega}_s}{\partial \dot{\mathbf{s}}} \right)^T \end{bmatrix}_i \begin{bmatrix} {}_R\dot{\mathbf{p}} + {}R\tilde{\mathbf{\omega}}{IR},{}_R\mathbf{p} - {}_R\mathbf{f}^e \ {}_R\dot{\mathbf{L}} + {}R\tilde{\mathbf{\omega}}{IR},{}_R\mathbf{L} - {}_R\mathbf{M}^e \end{bmatrix}_i=0 $$