“…Employing the procedure analogous to that described in detail in Refs. [20,22] we introduce a set of polar coordinates, Q T1 , u T1 , Q T2 , u T2 , Q C1 , u C1 , Q C2 , u C2 , corresponding to the (Cartesian) normal coordinates, Q T1x , Q T1y , Q T2x , Q T2y , Q C1x , Q C1y , Q C2x , Q C2y , the last ones diagonalizing the kinetic and potential energy operators given by Eqs. (20) and (21).…”