Added dot product tests from different frames.
Minor Fix.
Added print statements and modified assertion tests
Added correct print statements
Assertion tests satisfying new trigsimp changes
Move latex printing methods for constants to sympy/core/numbers.py (see issue 3754)
Add latex printing method for GoldenRatio
Change latex printing for NaN (issue 3763)
series method doesn't correctly work for n=0
deleted removeO method in tests
Solutions for linear diophantine equations with two variables are implemented
Tests updated and now the method works for any number of variables
Doctests added
Comment at the top of diophantine.py removed
Quadratic diophantine equation is solved for elliptical case and simple hyperbolic case
Doctests fixed
Case B**2 - 4AC = 0 implemented
Test failures fixed
Docs updated
Use kinematic DEs in calculations of kanes_equations.

Substitute expressions for qdot's when calculating generalized active
forces/inertias. This allows the system formulation to be explicitly
independent of generalized speeds.