allineamento a sinistra

Salve a tutti,

`
\begin{equation}
\begin{bmatrix}
\dot{x}_1 – e\cos\epsilon\sin\delta\dot{\delta} – (a\sin\epsilon\sin\phi + e\sin\delta\cos\phi + e\sin\epsilon\cos\delta\sin\phi + f\cos\epsilon\sin\phi)\dot{\psi} \\
\dot{y}_1 + a\sin\epsilon\cos\phi\dot{\phi} – e\sin\delta\sin\phi\dot{\phi} + e\cos\delta\cos\phi\dot{\delta} + e\sin\epsilon\cos\delta\cos\phi\dot{\phi}
– e\sin\epsilon\sin\delta\sin\phi\dot{\delta} \\
f\cos\epsilon\cos\phi\dot{\phi} +(a\cos\epsilon\ + e\cos\delta\cos\epsilon – f\sin\epsilon)\dot{\psi} \\
a\sin\epsilon\sin\phi\dot{\phi} + e\sin\delta\cos\phi\dot{\phi} + e\cos\delta\sin\phi\dot{\delta} + e\sin\epsilon\cos\delta\sin\phi\dot{\phi} + e\sin\epsilon\sin\delta\cos\phi\dot{\delta} + f\cos\epsilon\sin\phi\dot{\phi}
\end{bmatrix}
\end{equation}
`

come faccio ad allineare le righe della matrice tutte a sinistra?