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   Right-hand-side of the dynamical equations with three ReactionWheels. 
   This function includes position, orientation and 3 reaction wheels 
   modeled with the ReactionWheel function. This includes friction.
   See also ReactionWheel and RWAResponse.
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   Inputs
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   x           (22,1)    State vector [r;v;q;w;angleRWA;wRWA;frictionRWA]
   t           (1,1)     Time
   sim         (1,1)     Data structure for the simulation

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   Outputs
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   xDot        (:,1)     State vector derivative

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