function [COG,COP,GRF,M01,T,BIN] = MovePtP( Q,dQ,ddQ,L,R,M,go )

for k=1:size(Q,2),
    k 
    %-- Posiçao, velocidades e aceleraçoes angulares ----------------------------------------
      Q_t = [  Q(1,k)   Q(2,k)   Q(3,k)   Q(4,k)   Q(5,k)];
     dQ_t = [ dQ(1,k)  dQ(2,k)  dQ(3,k)  dQ(4,k)  dQ(5,k)];
    ddQ_t = [ddQ(1,k) ddQ(2,k) ddQ(3,k) ddQ(4,k) ddQ(5,k)];
    %-- Posiçao do Centro de Massa ----------------------------------------------------------    
    COG_k = RobCOG( Q_t,L,R,M ); 
    COG(:,k) = COG_k';
    %-- Força de Reacçao no Solo ------------------------------------------------------------
    A = CinDirDif5M( Q_t,dQ_t,ddQ_t,L,R,M );
    GRF_k = RobGRF( A,M,go );
    GRF(:,k) = GRF_k';
    %-- Coordenadas do Centro de Pressao ----------------------------------------------------    
    COGm0 = [ 0 0 R(1) ];
    P = CinDir5M( Q_t,L,R );
    M01_k = MomentoElo01( P,A,M,go ); % pause
    M01(:,k) = M01_k';
    COP_k = RobCOP( M01_k,GRF_k,M(1),COGm0,L(1),go );
    COP(:,k) = COP_k';
    %-- Binarios nas juntas: Formulaçao de Lagrange -----------------------------------------    
    T_k = DynInv5M( Q_t,dQ_t,ddQ_t,L,R,M,go ); 
    T(:,k) = T_k';
    %-- Binarios nas juntas: Formulaçao de Newton-Euler -------------------------------------    
    P3D = CinDirMatricial( Q_t,L,R );
    M05_k = MomentosNE( P3D,A,M,go ); % pause
    for i=1:length(Q_t), M05(:,k,i)=M05_k(i,:); end
    %-- Binarios nas juntas: Formulaçao de Newton-Euler -------------------------------------    
    BIN_k = BinariosNE(Q_t,M05_k);
    BIN(:,k) = BIN_k';
   % VERIFY = [T(:,k)'; BIN(:,k)'], pause
   % if ~flag, disp('ERROR: dynamic modelling'), pause, end
end
