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C14.m
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function out1 = C14(Ix_1,Ix_2,Iy_1,Iy_2,Iz_1,Iz_2,b_1,b_2,b_dot_1,b_dot_2,k_1,k_2,k_dot_1,k_dot_2,l_1,l_2,m_1,m_2,t_1,t_2,t_dot_1,t_dot_2)
%C14
% OUT1 = C14(IX_1,IX_2,IY_1,IY_2,IZ_1,IZ_2,B_1,B_2,B_DOT_1,B_DOT_2,K_1,K_2,K_DOT_1,K_DOT_2,L_1,L_2,M_1,M_2,T_1,T_2,T_DOT_1,T_DOT_2)
% This function was generated by the Symbolic Math Toolbox version 8.6.
% 20-Oct-2021 18:04:31
%Version: 1.1
t2 = l_1.*t_1;
t3 = l_2.*t_2;
t4 = b_1.*2.0;
t5 = b_2.*2.0;
t6 = b_1.^2;
t7 = b_1.^3;
t8 = b_2.^2;
t9 = b_2.^3;
t10 = k_1.*2.0;
t11 = k_2.*2.0;
t12 = k_1.^2;
t13 = k_1.^3;
t14 = k_2.^2;
t15 = k_2.^3;
t16 = cos(t2);
t17 = cos(t3);
t18 = sin(t2);
t19 = sin(t3);
t36 = t6+t12;
t37 = t8+t14;
t20 = b_1.*t16;
t21 = b_2.*t17;
t22 = k_1.*t16;
t23 = k_2.*t17;
t24 = b_1.*t18;
t25 = b_2.*t19;
t26 = k_1.*t18;
t27 = k_2.*t19;
t42 = 1.0./t36;
t44 = 1.0./t37;
t46 = sqrt(t36);
t47 = sqrt(t37);
t28 = l_1.*t20;
t29 = l_2.*t21;
t30 = l_1.*t22;
t31 = l_2.*t23;
t32 = l_1.*t24;
t33 = l_2.*t25;
t34 = l_1.*t26;
t35 = l_2.*t27;
t38 = -t26;
t39 = -t27;
t43 = t42.^2;
t45 = t44.^2;
t48 = 1.0./t46;
t50 = 1.0./t47;
t52 = l_1.*t46;
t53 = l_2.*t47;
t54 = t22+t24;
t55 = t23+t25;
t40 = -t34;
t41 = -t35;
t49 = t48.^3;
t51 = t50.^3;
t56 = cos(t52);
t57 = cos(t53);
t58 = sin(t52);
t59 = sin(t53);
t60 = t30+t32;
t61 = t31+t33;
t62 = t20+t38;
t63 = t21+t39;
t64 = t54.^2;
t65 = t56.^2;
t66 = t58.^2;
t67 = t28+t40;
t68 = t29+t41;
t69 = t4.*t56;
t70 = t5.*t57;
t71 = t10.*t56;
t72 = t11.*t57;
t73 = t62.^2;
t74 = t56-1.0;
t75 = t57-1.0;
t77 = t6.*t56;
t78 = t8.*t57;
t79 = t12.*t56;
t80 = t14.*t57;
t86 = t48.*t58;
t88 = b_1.*l_1.*t42.*t56;
t89 = k_1.*l_1.*t42.*t56;
t91 = b_1.*t49.*t58;
t92 = k_1.*t49.*t58;
t93 = t56.*t57;
t104 = l_1.*t6.*t49.*t58;
t105 = l_2.*t9.*t50.*t59;
t107 = l_1.*t12.*t49.*t58;
t108 = l_2.*t15.*t50.*t59;
t115 = b_2.*l_2.*t14.*t50.*t59;
t116 = k_2.*l_2.*t8.*t50.*t59;
t155 = t12.*t28.*t49.*t58;
t156 = t6.*t30.*t49.*t58;
t157 = t14.*t29.*t51.*t59;
t158 = t8.*t31.*t51.*t59;
t159 = t12.*t32.*t49.*t58;
t160 = t6.*t34.*t49.*t58;
t161 = t14.*t33.*t51.*t59;
t162 = t8.*t35.*t51.*t59;
t224 = t50.*t56.*t59;
t226 = b_2.*t51.*t56.*t59;
t228 = k_2.*t51.*t56.*t59;
t239 = t12.*t49.*t57.*t58;
t318 = k_2.*l_2.*t6.*t44.*t49.*t57.*t58;
t324 = t6.*t49.*t50.*t58.*t59;
t325 = t12.*t49.*t50.*t58.*t59;
t331 = b_2.*t12.*t49.*t51.*t58.*t59;
t332 = k_2.*t6.*t49.*t51.*t58.*t59;
t333 = k_2.*t12.*t49.*t51.*t58.*t59;
t76 = Iz_1.*t65;
t81 = t74.^2;
t82 = t12+t77;
t83 = t6+t79;
t84 = t14+t78;
t85 = t8+t80;
t87 = t42.*t66;
t90 = t42.*t74;
t96 = -t89;
t97 = k_1.*l_1.*t91;
t99 = -t91;
t101 = k_1.*t4.*t43.*t74;
t102 = -t93;
t103 = l_1.*t7.*t86;
t106 = l_1.*t13.*t86;
t111 = b_1.*t4.*t43.*t74;
t112 = k_1.*t10.*t43.*t74;
t113 = b_1.*l_1.*t12.*t86;
t114 = k_1.*l_1.*t6.*t86;
t119 = -t105;
t121 = -t108;
t123 = t21.*t44.*t75;
t125 = t23.*t44.*t75;
t127 = t25.*t44.*t75;
t129 = t27.*t44.*t75;
t136 = -t115;
t137 = -t116;
t142 = k_2.*t29.*t44.*t75;
t144 = k_2.*t33.*t44.*t75;
t152 = t39.*t44.*t75;
t173 = t4.*t12.*t16.*t43.*t74;
t175 = t5.*t14.*t17.*t45.*t75;
t176 = k_2.*t5.*t21.*t45.*t75;
t179 = t4.*t12.*t18.*t43.*t74;
t181 = t5.*t14.*t19.*t45.*t75;
t182 = k_2.*t5.*t25.*t45.*t75;
t221 = b_2.*l_2.*t44.*t93;
t222 = k_2.*l_2.*t44.*t93;
t223 = t57.*t86;
t229 = k_1.*t57.*t88;
t230 = Iz_1.*b_1.*t56.*t86;
t231 = Iz_1.*k_1.*t56.*t86;
t234 = k_1.*t57.*t91;
t238 = l_1.*t42.*t57.*t79;
t241 = t17.*t224;
t243 = t19.*t224;
t246 = m_1.*t74.*t91;
t247 = m_1.*t74.*t92;
t253 = t50.*t59.*t86;
t265 = k_1.*t50.*t59.*t88;
t270 = b_2.*t51.*t59.*t86;
t272 = k_2.*t51.*t59.*t86;
t273 = t55.*t224;
t276 = l_1.*t42.*t50.*t59.*t77;
t277 = l_1.*t42.*t50.*t59.*t79;
t282 = b_2.*k_1.*t51.*t59.*t88;
t284 = k_1.*k_2.*t51.*t59.*t88;
t292 = k_1.*t50.*t59.*t91;
t301 = k_2.*l_1.*l_2.*t42.*t44.*t57.*t77;
t304 = b_2.*k_1.*t51.*t59.*t91;
t306 = k_1.*k_2.*t51.*t59.*t91;
t315 = b_2.*l_1.*t42.*t51.*t59.*t79;
t316 = k_2.*l_1.*t42.*t51.*t59.*t77;
t317 = b_2.*l_2.*t44.*t239;
t319 = k_2.*l_1.*t42.*t51.*t59.*t79;
t320 = k_2.*l_2.*t44.*t239;
t323 = t61.*t224;
t326 = t63.*t224;
t334 = t63.*t226;
t335 = t63.*t228;
t348 = t18.*t44.*t75.*t86;
t359 = -t318;
t360 = b_2.*l_2.*t325;
t361 = k_2.*l_2.*t325;
t363 = -t324;
t364 = -t325;
t367 = t16.*t44.*t75.*t86;
t368 = -t331;
t369 = -t333;
t384 = t17.*t324;
t395 = k_2.*t5.*t16.*t45.*t75.*t86;
t396 = k_2.*t5.*t18.*t45.*t75.*t86;
t397 = l_2.*t14.*t16.*t51.*t59.*t86;
t398 = l_2.*t8.*t18.*t51.*t59.*t86;
t399 = l_2.*t14.*t18.*t51.*t59.*t86;
t401 = k_2.*t11.*t16.*t45.*t75.*t86;
t402 = b_2.*t5.*t18.*t45.*t75.*t86;
t403 = k_2.*t11.*t18.*t45.*t75.*t86;
t406 = t14.*t16.*t45.*t75.*t86.*-2.0;
t407 = t8.*t18.*t45.*t75.*t86.*-2.0;
t422 = t44.*t54.*t75.*t88;
t423 = t44.*t54.*t75.*t89;
t427 = k_2.*t50.*t54.*t59.*t89;
t428 = t44.*t54.*t75.*t86;
t434 = t44.*t54.*t75.*t91;
t436 = t44.*t54.*t75.*t92;
t440 = k_2.*t50.*t54.*t59.*t92;
t456 = t55.*t324;
t457 = t55.*t325;
t459 = b_2.*k_2.*l_2.*t51.*t54.*t59.*t89;
t461 = t44.*t62.*t75.*t89;
t464 = b_2.*t50.*t59.*t62.*t89;
t470 = t44.*t62.*t75.*t86;
t478 = t55.*t318;
t480 = t44.*t62.*t75.*t92;
t483 = b_2.*t50.*t59.*t62.*t92;
t490 = k_2.*t5.*t45.*t54.*t75.*t89;
t491 = l_2.*t14.*t51.*t54.*t59.*t88;
t492 = l_2.*t14.*t51.*t54.*t59.*t89;
t493 = k_2.*t5.*t45.*t54.*t75.*t86;
t495 = t55.*t332;
t496 = l_2.*t14.*t51.*t54.*t59.*t86;
t497 = b_2.*t44.*t62.*t75.*t88;
t500 = b_2.*t44.*t60.*t75.*t86;
t506 = b_2.*k_2.*l_2.*t51.*t54.*t59.*t92;
t509 = t63.*t325;
t511 = l_1.*t14.*t42.*t45.*t54.*t69.*t75;
t512 = l_1.*t14.*t42.*t45.*t54.*t71.*t75;
t513 = b_2.*k_2.*l_2.*t51.*t59.*t62.*t88;
t514 = b_2.*k_2.*l_2.*t51.*t59.*t62.*t89;
t517 = b_2.*t44.*t62.*t75.*t91;
t519 = k_2.*t11.*t45.*t54.*t75.*t86;
t522 = t44.*t67.*t75.*t86;
t531 = k_2.*t5.*t45.*t54.*t75.*t92;
t534 = l_2.*t14.*t51.*t54.*t59.*t91;
t535 = l_2.*t14.*t51.*t54.*t59.*t92;
t537 = b_2.*k_2.*l_1.*t42.*t45.*t62.*t69.*t75;
t538 = t14.*t45.*t54.*t75.*t89.*-2.0;
t539 = k_2.*t5.*t45.*t62.*t75.*t89;
t540 = k_2.*t5.*t45.*t60.*t75.*t86;
t541 = l_2.*t8.*t51.*t59.*t62.*t89;
t543 = k_2.*t5.*t45.*t62.*t75.*t86;
t548 = l_2.*t8.*t51.*t59.*t62.*t86;
t550 = t4.*t14.*t45.*t49.*t54.*t58.*t75;
t551 = t10.*t14.*t45.*t49.*t54.*t58.*t75;
t552 = b_2.*k_2.*t45.*t54.*t75.*t92.*-2.0;
t555 = b_2.*k_2.*l_2.*t51.*t59.*t62.*t91;
t556 = b_2.*k_2.*l_2.*t51.*t59.*t62.*t92;
t560 = b_2.*t5.*t45.*t62.*t75.*t89;
t561 = b_2.*k_2.*t45.*t62.*t75.*t89.*-2.0;
t564 = b_2.*t5.*t45.*t62.*t75.*t86;
t568 = t14.*t45.*t54.*t75.*t91.*-2.0;
t569 = b_2.*k_2.*t4.*t45.*t49.*t58.*t62.*t75;
t570 = k_2.*t5.*t45.*t62.*t75.*t92;
t571 = l_2.*t8.*t51.*t59.*t62.*t92;
t577 = l_2.*t14.*t51.*t59.*t67.*t86;
t582 = b_2.*t5.*t45.*t62.*t75.*t92;
t583 = b_2.*k_2.*t45.*t62.*t75.*t91.*-2.0;
t588 = k_2.*t11.*t45.*t67.*t75.*t86;
t589 = t8.*t45.*t62.*t75.*t92.*-2.0;
t591 = t14.*t45.*t67.*t75.*t86.*-2.0;
t94 = b_1.*t90;
t95 = k_1.*t90;
t98 = -t90;
t100 = Iz_1.*b_1.*k_1.*t87;
t109 = Iz_1.*t6.*t87;
t110 = Iz_1.*t12.*t87;
t117 = b_1.*k_1.*m_1.*t43.*t81;
t118 = -t103;
t120 = -t106;
t122 = t20.*t90;
t124 = t22.*t90;
t126 = t24.*t90;
t128 = t26.*t90;
t130 = t6.*t43.*t81;
t131 = t12.*t43.*t81;
t133 = k_2.*t127;
t134 = -t113;
t135 = -t114;
t139 = k_2.*t123;
t146 = -t123;
t148 = -t125;
t150 = -t127;
t151 = t38.*t90;
t165 = t16.*t42.*t82;
t166 = t16.*t42.*t83;
t167 = t17.*t44.*t84;
t168 = t17.*t44.*t85;
t169 = t18.*t42.*t82;
t170 = t18.*t42.*t83;
t171 = t19.*t44.*t84;
t172 = t19.*t44.*t85;
t174 = t20.*t101;
t178 = -t142;
t180 = t24.*t101;
t184 = -t144;
t194 = t5+t136;
t196 = t11+t137;
t197 = t4.*t16.*t43.*t82;
t198 = t4.*t16.*t43.*t83;
t199 = t5.*t17.*t45.*t84;
t200 = t5.*t17.*t45.*t85;
t201 = t10.*t16.*t43.*t82;
t202 = t10.*t16.*t43.*t83;
t203 = t11.*t17.*t45.*t84;
t204 = t11.*t17.*t45.*t85;
t205 = t4.*t18.*t43.*t82;
t206 = t4.*t18.*t43.*t83;
t207 = t5.*t19.*t45.*t84;
t208 = t5.*t19.*t45.*t85;
t209 = t10.*t18.*t43.*t82;
t210 = t10.*t18.*t43.*t83;
t211 = t11.*t19.*t45.*t84;
t212 = t11.*t19.*t45.*t85;
t213 = t20.*t43.*t82.*-2.0;
t214 = t21.*t45.*t84.*-2.0;
t215 = t22.*t43.*t82.*-2.0;
t216 = t23.*t45.*t84.*-2.0;
t217 = t24.*t43.*t83.*-2.0;
t218 = t25.*t45.*t85.*-2.0;
t219 = t26.*t43.*t83.*-2.0;
t220 = t27.*t45.*t85.*-2.0;
t225 = b_1.*t223;
t227 = k_1.*t223;
t232 = b_2.*l_2.*t44.*t102;
t233 = k_2.*l_2.*t44.*t102;
t235 = Ix_1.*t64.*t87;
t237 = -t223;
t240 = -t229;
t242 = -t230;
t244 = Iy_1.*t73.*t87;
t245 = -t238;
t248 = m_1.*t74.*t99;
t250 = t72+t121;
t252 = t70+t119;
t262 = b_2.*l_2.*t44.*t223;
t263 = k_2.*l_2.*t44.*t223;
t269 = b_1.*t253;
t271 = k_1.*t253;
t274 = b_2.*l_2.*t44.*t229;
t275 = k_2.*l_2.*t44.*t229;
t283 = b_2.*l_2.*t44.*t234;
t285 = k_2.*l_2.*t44.*t234;
t290 = b_1.*t270;
t293 = b_1.*t272;
t294 = k_1.*t270;
t296 = b_2.*l_2.*t253;
t297 = k_1.*t272;
t299 = k_2.*l_2.*t253;
t300 = b_2.*l_2.*t44.*t238;
t302 = k_2.*l_2.*t44.*t238;
t303 = k_2.*l_2.*t265;
t314 = -t272;
t321 = t63.*t221;
t322 = t63.*t222;
t329 = b_2.*l_2.*t277;
t330 = k_2.*l_2.*t277;
t336 = -t284;
t337 = k_1.*k_2.*l_2.*t44.*t57.*t99;
t339 = t17.*t253;
t340 = k_2.*l_2.*t292;
t342 = k_1.*t50.*t59.*t99;
t350 = k_2.*t16.*t253;
t351 = b_2.*t18.*t253;
t353 = b_2.*k_1.*t51.*t59.*t99;
t354 = k_1.*k_2.*t51.*t59.*t99;
t358 = -t316;
t365 = t17.*t265;
t366 = t19.*t265;
t370 = -t334;
t371 = b_2.*t367;
t372 = k_2.*t367;
t373 = b_2.*t348;
t374 = k_2.*t348;
t375 = t17.*t292;
t377 = t19.*t292;
t381 = t17.*t276;
t382 = -t348;
t385 = -t360;
t386 = -t361;
t388 = k_2.*l_2.*t16.*t270;
t389 = k_2.*l_2.*t18.*t270;
t400 = t17.*t363;
t408 = -t397;
t409 = -t398;
t413 = t55.*t253;
t425 = t55.*t265;
t431 = k_2.*t54.*t253;
t433 = t55.*t272;
t435 = k_2.*t428;
t438 = t55.*t292;
t442 = t55.*t301;
t443 = t63.*t253;
t448 = t55.*t276;
t449 = t55.*t277;
t450 = k_2.*t422;
t451 = k_2.*t423;
t452 = t55.*t282;
t454 = t55.*t284;
t460 = -t422;
t462 = k_2.*t434;
t463 = k_2.*t436;
t465 = t63.*t265;
t466 = t55.*t304;
t468 = t55.*t306;
t469 = k_2.*l_2.*t54.*t270;
t471 = -t428;
t472 = b_2.*t62.*t253;
t477 = t55.*t316;
t479 = b_2.*t470;
t481 = -t436;
t484 = t63.*t292;
t488 = -t440;
t494 = t63.*t277;
t498 = b_2.*t461;
t499 = k_2.*t44.*t54.*t75.*t96;
t508 = t55.*t363;
t510 = t55.*t364;
t515 = t68.*t265;
t516 = k_2.*l_2.*t60.*t270;
t518 = t44.*t62.*t75.*t96;
t520 = b_2.*t480;
t521 = k_2.*t44.*t54.*t75.*t99;
t525 = k_2.*l_2.*t62.*t270;
t530 = -t470;
t533 = t55.*t359;
t536 = -t483;
t542 = l_2.*t14.*t51.*t54.*t59.*t96;
t553 = k_2.*t522;
t557 = -t506;
t558 = t68.*t292;
t559 = t63.*t364;
t562 = b_2.*k_2.*l_2.*t51.*t59.*t62.*t96;
t565 = b_2.*t44.*t62.*t75.*t99;
t572 = l_2.*t14.*t51.*t54.*t59.*t99;
t587 = b_2.*k_2.*l_2.*t51.*t59.*t62.*t99;
t590 = -t571;
t596 = -t577;
t132 = t24.*t95;
t138 = t20.*t95;
t140 = -t117;
t141 = t28.*t95;
t143 = t32.*t95;
t145 = t20.*t98;
t147 = t22.*t98;
t149 = t24.*t98;
t154 = -t133;
t164 = -t139;
t185 = l_1.*t165;
t186 = l_1.*t166;
t187 = l_2.*t167;
t188 = l_2.*t168;
t189 = l_1.*t169;
t190 = l_1.*t170;
t191 = l_2.*t171;
t192 = l_2.*t172;
t193 = t4+t134;
t195 = t10+t135;
t236 = l_1.*t227;
t249 = t71+t120;
t251 = t69+t118;
t255 = t17.*t44.*t194;
t257 = t17.*t44.*t196;
t259 = t19.*t44.*t194;
t261 = t19.*t44.*t196;
t264 = b_2.*l_2.*t44.*t225;
t266 = k_2.*l_2.*t44.*t225;
t267 = b_2.*l_2.*t44.*t227;
t268 = k_2.*l_2.*t44.*t227;
t289 = b_2.*l_2.*t44.*t237;
t291 = k_2.*l_2.*t44.*t237;
t295 = l_1.*t269;
t298 = l_1.*t271;
t307 = b_2.*l_2.*t271;
t308 = l_1.*t293;
t309 = l_1.*t294;
t310 = k_2.*l_2.*t271;
t311 = l_1.*t297;
t312 = -t269;
t313 = -t271;
t327 = b_2.*l_2.*t44.*t240;
t328 = k_2.*l_2.*t44.*t240;
t341 = -t290;
t343 = -t293;
t344 = -t294;
t346 = b_2.*l_2.*t44.*t245;
t347 = k_2.*l_2.*t44.*t245;
t349 = t17.*t269;
t352 = t19.*t269;
t362 = t63.*t233;
t380 = k_2.*l_2.*t342;
t383 = -t351;
t387 = -t366;
t390 = -t372;
t391 = t17.*t342;
t393 = t87+t130;
t394 = t87+t131;
t410 = t55.*t263;
t412 = t17.*t44.*t252;
t415 = t19.*t44.*t252;
t417 = t17.*t44.*t250;
t419 = t19.*t44.*t250;
t420 = t55.*t274;
t421 = t55.*t275;
t429 = t55.*t269;
t430 = t130+t131;
t432 = t55.*t271;
t437 = t55.*t290;
t439 = t55.*t293;
t453 = t55.*t283;
t455 = t55.*t285;
t473 = t63.*t269;
t475 = t63.*t271;
t476 = t55.*t314;
t485 = t55.*t342;
t501 = t55.*t336;
t502 = t55.*t337;
t523 = -t465;
t524 = t55.*t353;
t528 = t68.*t269;
t532 = t55.*t358;
t546 = t133+t168;
t547 = t139+t171;
t549 = b_2.*t518;
t563 = -t515;
t586 = -t553;
t658 = -t16.*t86.*(t133-t167);
t659 = -t16.*t86.*(t139-t172);
t663 = -t18.*t86.*(t133-t167);
t664 = -t18.*t86.*(t139-t172);
t681 = t16.*t86.*(t133-t167);
t697 = -t54.*t88.*(t139-t172);
t698 = -t54.*t89.*(t139-t172);
t702 = -t54.*t86.*(t139-t172);
t706 = -t54.*t91.*(t139-t172);
t707 = -t54.*t92.*(t139-t172);
t711 = -t62.*t88.*(t133-t167);
t712 = -t62.*t89.*(t133-t167);
t714 = -t60.*t86.*(t133-t167);
t716 = -t62.*t86.*(t133-t167);
t717 = t54.*t86.*(t139-t172);
t721 = -t62.*t91.*(t133-t167);
t722 = -t54.*t99.*(t139-t172);
t723 = -t62.*t92.*(t133-t167);
t724 = t54.*t92.*(t139-t172);
t726 = t62.*t88.*(t133-t167);
t727 = -t62.*t96.*(t133-t167);
t728 = -t67.*t86.*(t139-t172);
t749 = t102+t431+t472;
t762 = t86+t224+t435+t479;
t937 = t516+t522+t540+t591+t596;
t956 = t228+t233+t471+t496+t519+t525+t543;
t959 = t226+t232+t469+t493+t530+t548+t564;
t153 = -t132;
t163 = -t138;
t177 = -t141;
t183 = -t143;
t254 = t16.*t42.*t193;
t256 = t16.*t42.*t195;
t258 = t18.*t42.*t193;
t260 = t18.*t42.*t195;
t279 = -t255;
t281 = -t261;
t286 = l_1.*t266;
t287 = b_2.*l_2.*t44.*t236;
t288 = k_2.*l_2.*t44.*t236;
t305 = -t268;
t345 = -t295;
t355 = -t308;
t356 = -t309;
t357 = -t310;
t376 = t17.*t298;
t378 = t19.*t295;
t379 = t19.*t298;
t404 = m_1.*t393;
t405 = m_1.*t394;
t411 = t16.*t42.*t251;
t414 = t18.*t42.*t251;
t416 = t16.*t42.*t249;
t418 = t18.*t42.*t249;
t424 = t55.*t264;
t426 = t55.*t266;
t441 = t55.*t298;
t445 = -t415;
t447 = -t417;
t458 = t55.*t327;
t467 = m_1.*t430;
t474 = t55.*t312;
t482 = t55.*t341;
t486 = t55.*t343;
t487 = t63.*t295;
t489 = t63.*t298;
t507 = t61.*t298;
t526 = t63.*t308;
t527 = t63.*t309;
t529 = t63.*t311;
t544 = t132+t166;
t545 = t138+t169;
t573 = t143+t186;
t574 = t141+t189;
t575 = t144+t188;
t576 = t142+t191;
t580 = t154+t167;
t581 = t164+t172;
t594 = t184+t187;
t595 = t178+t192;
t599 = (t132-t165).^2;
t600 = (t138-t170).^2;
t612 = -t50.*t59.*(t138-t170);
t614 = -b_2.*t50.*t59.*(t132-t165);
t618 = -b_2.*k_2.*l_2.*t44.*t57.*(t138-t170);
t623 = -t44.*t75.*(t132-t165);
t624 = -t44.*t75.*(t138-t170);
t628 = t16.*t86.*t546;
t632 = t18.*t86.*t547;
t633 = -b_2.*k_2.*t51.*t59.*(t138-t170);
t634 = -t50.*t59.*(t141-t190);
t637 = -l_2.*t44.*t78.*(t138-t170);
t640 = b_2.*t50.*t59.*(t138-t170);
t641 = -t8.*t51.*t59.*(t138-t170);
t647 = -t44.*t75.*(t143-t185);
t648 = -t44.*t75.*(t141-t190);
t649 = b_2.*k_2.*l_2.*t44.*t57.*(t138-t170);
t650 = -b_2.*k_2.*l_2.*t51.*t59.*(t132-t165);
t653 = t44.*t75.*(t132-t165);
t662 = b_2.*t44.*t75.*(t138-t170);
t667 = -l_2.*t44.*t80.*(t141-t190);
t669 = -k_2.*t5.*t45.*t75.*(t132-t165);
t670 = -k_2.*t5.*t45.*t75.*(t138-t170);
t671 = -l_2.*t8.*t51.*t59.*(t132-t165);
t674 = -t14.*t51.*t59.*(t141-t190);
t675 = t8.*t51.*t59.*(t138-t170);
t676 = -b_2.*t5.*t45.*t75.*(t132-t165);
t677 = -b_2.*t5.*t45.*t75.*(t138-t170);
t678 = t44.*t75.*(t141-t190);
t680 = k_2.*t44.*t75.*(t143-t185);
t682 = -l_2.*t14.*t51.*t59.*(t143-t185);
t684 = t8.*t45.*t75.*(t138-t170).*2.0;
t686 = t14.*t51.*t59.*(t141-t190);
t687 = -k_2.*t11.*t45.*t75.*(t143-t185);
t688 = -k_2.*t11.*t45.*t75.*(t141-t190);
t689 = t14.*t45.*t75.*(t143-t185).*2.0;
t690 = l_2.*t14.*t51.*t59.*(t143-t185);
t691 = t54.*t89.*t546;
t692 = t54.*t86.*t546;
t695 = t54.*t92.*t546;
t699 = t62.*t89.*t547;
t700 = t54.*t96.*t546;
t703 = t62.*t86.*t547;
t708 = t62.*t92.*t547;
t713 = t62.*t96.*t547;
t719 = -Iy_1.*t62.*t86.*(t132-t165);
t720 = -Iy_1.*t62.*t86.*(t138-t170);
t729 = t500+t586;
t736 = -t547.*(t132-t165);
t737 = -t547.*(t138-t170);
t739 = -t546.*(t143-t185);
t741 = (t132-t165).*(t133-t167);
t742 = (t133-t167).*(t138-t170);
t743 = Iy_1.*(t132-t165).*(t138-t170);
t744 = t546.*(t143-t185);
t745 = (t132-t165).*(t144-t187);
t750 = t749.^2;
t754 = t148+t158+t176+t218+t259;
t756 = t150+t161+t181+t216+t257;
t763 = t762.^2;
t767 = t152+t162+t182+t214+t412;
t769 = t146+t157+t175+t220+t419;
t812 = t714+t728;
t909 = t326+t716+t717;
t957 = t236+t350+t383+t427+t464+t488+t536;
t958 = m_2.*t956;
t970 = t92+t96+t298+t373+t390+t463+t499+t520+t549;
t278 = -t254;
t280 = -t260;
t338 = -t288;
t392 = -t379;
t444 = -t414;
t446 = -t416;
t503 = t63.*t286;
t504 = t63.*t287;
t505 = t63.*t288;
t566 = t63.*t356;
t567 = -t529;
t578 = t153+t165;
t579 = t163+t170;
t584 = t544.^2;
t585 = t545.^2;
t592 = t183+t185;
t593 = t177+t190;
t601 = Iy_1.*t599;
t602 = Iy_1.*t600;
t603 = t50.*t59.*t544;
t605 = k_2.*t50.*t59.*t545;
t606 = b_2.*k_2.*l_2.*t44.*t57.*t544;
t607 = t44.*t75.*t544;
t608 = t44.*t75.*t545;
t611 = b_2.*k_2.*t51.*t59.*t544;
t613 = l_2.*t44.*t80.*t544;
t615 = b_2.*t612;
t616 = t14.*t51.*t59.*t544;
t617 = b_2.*k_2.*l_2.*t44.*t57.*t573;
t621 = b_2.*k_2.*l_2.*t51.*t59.*t545;
t622 = b_2.*t50.*t59.*t573;
t626 = b_2.*t44.*t75.*t573;
t627 = b_2.*t44.*t75.*t574;
t629 = b_2.*k_2.*t51.*t59.*t573;
t630 = b_2.*t623;
t631 = b_2.*t624;
t635 = k_2.*t5.*t45.*t75.*t544;
t636 = k_2.*t5.*t45.*t75.*t545;
t639 = l_2.*t14.*t51.*t59.*t545;
t644 = b_2.*k_2.*l_2.*t51.*t59.*t574;
t645 = k_2.*t11.*t45.*t75.*t544;
t646 = k_2.*t11.*t45.*t75.*t545;
t651 = l_2.*t633;
t652 = k_2.*t634;
t654 = t16.*t86.*t575;
t655 = t18.*t86.*t576;
t656 = k_2.*t647;
t657 = k_2.*t648;
t660 = -t628;
t665 = k_2.*t5.*t45.*t75.*t573;
t666 = k_2.*t5.*t45.*t75.*t574;
t668 = t14.*t45.*t75.*t544.*-2.0;
t672 = l_2.*t641;
t683 = l_2.*t674;
t685 = l_2.*t675;
t693 = Ix_1.*t54.*t86.*t544;
t694 = Ix_1.*t54.*t86.*t545;
t696 = t54.*t89.*t575;
t701 = t54.*t86.*t575;
t704 = t54.*t92.*t575;
t709 = t62.*t89.*t576;
t710 = t54.*t96.*t575;
t715 = t62.*t86.*t576;
t718 = t62.*t92.*t576;
t725 = t62.*t96.*t576;
t730 = t544.*t546;
t731 = t545.*t546;
t732 = Ix_1.*t544.*t545;
t733 = t547.*t574;
t734 = -t544.*(t139-t172);
t735 = -t545.*(t139-t172);
t740 = -t545.*(t142-t192);
t746 = -t741;
t747 = -t743;
t748 = -t745;
t751 = Iz_2.*t750;
t752 = t76+t235+t244+t467;
t753 = t147+t156+t174+t217+t258;
t755 = t149+t159+t179+t215+t256;
t758 = t146+t157+t175+t211+t281;
t760 = t152+t162+t182+t200+t279;
t766 = t151+t160+t180+t213+t411;
t768 = t145+t155+t173+t219+t418;
t771 = t148+t158+t176+t207+t445;
t773 = t150+t161+t181+t204+t447;
t795 = t16.*t86.*t754;
t796 = t16.*t86.*t756;
t798 = t18.*t86.*t756;
t815 = t54.*t86.*t754;
t816 = t54.*t89.*t754;
t821 = t54.*t92.*t754;
t826 = t62.*t86.*t756;
t833 = t62.*t88.*t756;
t834 = t62.*t89.*t756;
t835 = t60.*t86.*t756;
t841 = t62.*t91.*t756;
t842 = t62.*t92.*t756;
t854 = t16.*t86.*t769;
t856 = t18.*t86.*t767;
t857 = t18.*t86.*t769;
t860 = t62.*t96.*t756;
t864 = t62.*t99.*t756;
t881 = t54.*t86.*t769;
t882 = t54.*t88.*t769;
t883 = t54.*t89.*t769;
t884 = t54.*t91.*t769;
t885 = t54.*t92.*t769;
t886 = t62.*t86.*t767;
t888 = t62.*t89.*t767;
t889 = t62.*t92.*t767;
t891 = t67.*t86.*t769;
t892 = t62.*t96.*t767;
t903 = t273+t692+t703;
t917 = t909.^2;
t940 = (t741+t63.*t312+t545.*(t139-t172)).^2;
t971 = t88+t99+t345+t371+t374+t450+t497+t521+t565;
t972 = m_1.*t970;
t988 = Iz_2.*t749.*t957.*2.0;
t1005 = -Iy_2.*t909.*(t741+t63.*t312+t545.*(t139-t172));
t1006 = Iy_2.*t909.*(t741+t63.*t312+t545.*(t139-t172));
t1021 = t762.*t970.*2.0;
t1029 = t489+t659+t663+t698+t723+t724+t727;
t1031 = t487+t664+t681+t697+t721+t722+t726;
t1038 = -m_1.*t86.*(-t489+t707+t18.*t86.*(t133-t167)+t16.*t86.*(t139-t172)+t54.*t89.*(t139-t172)+t62.*t92.*(t133-t167)+t62.*t96.*(t133-t167));
t1039 = m_1.*t86.*(-t489+t707+t18.*t86.*(t133-t167)+t16.*t86.*(t139-t172)+t54.*t89.*(t139-t172)+t62.*t92.*(t133-t167)+t62.*t96.*(t133-t167));
t1041 = -m_1.*t94.*(-t489+t707+t18.*t86.*(t133-t167)+t16.*t86.*(t139-t172)+t54.*t89.*(t139-t172)+t62.*t92.*(t133-t167)+t62.*t96.*(t133-t167));
t1085 = Iy_2.*t909.*(-t489+t707+t18.*t86.*(t133-t167)+t16.*t86.*(t139-t172)+t54.*t89.*(t139-t172)+t62.*t92.*(t133-t167)+t62.*t96.*(t133-t167)).*-2.0;
t1108 = Iy_2.*(t741+t63.*t312+t545.*(t139-t172)).*(-t489+t707+t18.*t86.*(t133-t167)+t16.*t86.*(t139-t172)+t54.*t89.*(t139-t172)+t62.*t92.*(t133-t167)+t62.*t96.*(t133-t167));
t1109 = t286+t355+t382+t388+t395+t399+t403+t434+t460+t491+t511+t513+t537+t568+t572+t583+t587;
t1113 = t287+t348+t356+t388+t395+t407+t409+t459+t480+t490+t518+t541+t552+t557+t560+t589+t590;
t554 = -t503;
t597 = Ix_1.*t584;
t598 = Ix_1.*t585;
t604 = k_2.*t603;
t609 = k_2.*t607;
t610 = k_2.*t608;
t619 = -t606;
t620 = l_2.*t611;
t625 = -t608;
t638 = l_2.*t616;
t642 = -t616;
t643 = l_2.*t629;
t661 = -t629;
t679 = -t654;
t705 = -t693;
t738 = -t730;
t757 = t145+t155+t173+t209+t280;
t759 = t151+t160+t180+t198+t278;
t761 = t622+t652;
t764 = t626+t657;
t765 = t627+t680;
t770 = t147+t156+t174+t205+t444;
t772 = t149+t159+t179+t202+t446;
t774 = b_2.*t50.*t59.*t753;
t775 = t44.*t75.*t755;
t776 = b_2.*t50.*t59.*t755;
t778 = b_2.*k_2.*l_2.*t44.*t57.*t753;
t783 = b_2.*t44.*t75.*t753;
t785 = b_2.*k_2.*t51.*t59.*t753;
t787 = b_2.*k_2.*l_2.*t51.*t59.*t755;
t793 = l_2.*t8.*t51.*t59.*t755;
t801 = k_2.*t5.*t45.*t75.*t753;
t802 = k_2.*t5.*t45.*t75.*t755;
t806 = b_2.*t5.*t45.*t75.*t755;
t810 = t8.*t45.*t75.*t755.*-2.0;
t817 = t50.*t59.*t768;
t818 = b_2.*k_2.*l_2.*t44.*t57.*t768;
t819 = t44.*t75.*t768;
t823 = l_2.*t44.*t78.*t768;
t824 = -t815;
t830 = b_2.*t44.*t75.*t766;
t832 = b_2.*k_2.*t51.*t59.*t768;
t837 = b_2.*k_2.*l_2.*t51.*t59.*t766;
t840 = -t821;
t844 = t225+t605+t614;
t845 = t8.*t51.*t59.*t768;
t848 = k_2.*t5.*t45.*t75.*t766;
t849 = k_2.*t5.*t45.*t75.*t768;
t851 = -t826;
t868 = b_2.*t5.*t45.*t75.*t768;
t871 = -t857;
t887 = -t882;
t890 = -t885;
t893 = t547.*t755;
t895 = t545.*t760;
t896 = -t755.*(t133-t167);
t898 = t574.*t758;
t900 = -t758.*(t132-t165);
t901 = -t755.*(t144-t187);
t904 = t903.^2;
t906 = t323+t701+t715;
t907 = t547.*t766;
t908 = t547.*t768;
t912 = t545.*t773;
t915 = -t768.*(t133-t167);
t916 = -t771.*(t132-t165);
t921 = Iy_2.*t917;
t922 = -t773.*(t143-t185);
t925 = t773.*(t143-t185);
t926 = t733+t744;
t928 = t242+t248+t694+t719;
t929 = t474+t731+t736;
t931 = (t429-t731+t547.*(t132-t165)).^2;
t932 = (t730+t55.*t313+t547.*(t138-t170)).^2;
t933 = t100+t140+t732+t747;
t935 = t475+t734+t742;
t939 = t473+t735+t746;
t942 = Iy_2.*t940;
t943 = t528+t740+t748;
t944 = t755.*t758;
t949 = t758.*t766;
t950 = t755.*t771;
t967 = t835+t891;
t975 = t644+t647+t666+t689+t690;
t976 = t94.*t972;
t977 = t95.*t972;
t989 = -t988;
t993 = -m_2.*(-t266+t293+t608-t639-t646+k_2.*t5.*t45.*t75.*(t132-t165)+b_2.*k_2.*l_2.*t51.*t59.*(t132-t165));
t994 = t264+t341+t621+t636+t653+t671+t676;
t1000 = -Ix_2.*t903.*(t429-t731+t547.*(t132-t165));
t1001 = -Ix_2.*t903.*(t730+t55.*t313+t547.*(t138-t170));
t1022 = Ix_2.*(t429-t731+t547.*(t132-t165)).*(t730+t55.*t313+t547.*(t138-t170));
t1026 = t441+t632+t660+t695+t700+t708+t713;
t1042 = -m_2.*t762.*(t310-t603-t613+t616+t618+b_2.*k_2.*t51.*t59.*(t138-t170));
t1044 = m_2.*t762.*(t310-t603-t613+t616+t618+b_2.*k_2.*t51.*t59.*(t138-t170));
t1101 = -m_2.*t970.*(t310-t603-t613+t616+t618+b_2.*k_2.*t51.*t59.*(t138-t170));
t1110 = t311+t338+t367+t389+t396+t406+t408+t423+t481+t535+t538+t542+t551+t556+t561+t562+t570;
t673 = -t638;
t777 = t50.*t59.*t759;
t779 = t44.*t75.*t757;
t780 = t44.*t75.*t759;
t781 = k_2.*t50.*t59.*t757;
t784 = b_2.*t775;
t786 = l_2.*t785;
t788 = -t776;
t791 = l_2.*t44.*t80.*t759;
t792 = b_2.*k_2.*l_2.*t51.*t59.*t757;
t799 = -t785;
t800 = t14.*t51.*t59.*t759;
t803 = l_2.*t14.*t51.*t59.*t757;
t805 = k_2.*t5.*t45.*t75.*t757;
t807 = -t793;
t809 = k_2.*t11.*t45.*t75.*t757;
t811 = k_2.*t11.*t45.*t75.*t759;
t814 = t14.*t45.*t75.*t757.*-2.0;
t820 = b_2.*t817;
t822 = t50.*t59.*t772;
t825 = b_2.*k_2.*l_2.*t44.*t57.*t772;
t827 = t44.*t75.*t770;
t828 = t44.*t75.*t772;
t831 = b_2.*t819;
t836 = l_2.*t44.*t80.*t772;
t838 = l_2.*t832;
t839 = -t819;
t847 = b_2.*k_2.*t51.*t59.*t772;
t850 = l_2.*t845;
t855 = -t830;
t858 = -t832;
t859 = t14.*t51.*t59.*t772;
t861 = l_2.*t14.*t51.*t59.*t770;
t862 = k_2.*t5.*t45.*t75.*t772;
t865 = t227+t604+t640;
t866 = -t845;
t869 = t844.^2;
t870 = k_2.*t11.*t45.*t75.*t772;
t873 = k_2.*t11.*t45.*t75.*t770;
t876 = t110+t404+t597+t602;
t877 = t109+t405+t598+t601;
t879 = t14.*t45.*t75.*t770.*-2.0;
t894 = t546.*t757;
t897 = -t893;
t899 = -t757.*(t139-t172);
t902 = -t757.*(t142-t192);
t905 = Ix_2.*t904;
t910 = t546.*t770;
t911 = t546.*t772;
t913 = t94+t312+t610+t630;
t914 = -t907;
t918 = -t772.*(t139-t172);
t919 = t95+t313+t609+t662;
t923 = t772.*(t139-t172);
t927 = t231+t247+t705+t720;
t930 = t432+t737+t738;
t934 = Ix_2.*t931;
t936 = Ix_2.*t932;
t938 = t935.^2;
t945 = t757.*t760;
t946 = Iz_2.*t749.*t844;
t951 = t757.*t773;
t952 = -t950;
t954 = t770.*t773;
t973 = t617+t634+t661+t667+t686;
t974 = t643+t665+t678+t683+t688;
t978 = -t976;
t979 = -t977;
t982 = t357+t603+t613+t633+t642+t649;
t983 = t307+t611+t612+t619+t637+t675;
t984 = t898+t925;
t991 = t266+t343+t625+t639+t646+t650+t669;
t995 = -m_2.*(t268-t297-t607+t638+t14.*t45.*t75.*t544.*2.0+k_2.*t5.*t45.*t75.*(t138-t170)+b_2.*k_2.*l_2.*t51.*t59.*(t138-t170));
t996 = t267+t344+t620+t624+t635+t684+t685;
t1004 = Iy_2.*t909.*t935;
t1007 = t243+t335+t362+t851+t881;
t1008 = t241+t321+t370+t824+t886;
t1012 = Iz_2.*t844.*t957;
t1027 = -Iy_2.*t935.*(t741+t63.*t312+t545.*(t139-t172));
t1028 = Iy_2.*t935.*(t741+t63.*t312+t545.*(t139-t172));
t1032 = t507+t655+t679+t704+t710+t718+t725;
t1036 = t349+t426+t486+t900+t912;
t1037 = t352+t424+t482+t895+t916;
t1055 = t762.*t993;
t1079 = -Iy_2.*t909.*(t465-t484+t755.*(t133-t167)+t757.*(t139-t172));
t1084 = Ix_2.*t903.*t1026.*2.0;
t1092 = -Iy_2.*t935.*(t465-t484+t755.*(t133-t167)+t757.*(t139-t172));
t1094 = Iy_2.*t935.*(t465-t484+t755.*(t133-t167)+t757.*(t139-t172));
t1096 = Iy_2.*(t741+t63.*t312+t545.*(t139-t172)).*(t465-t484+t755.*(t133-t167)+t757.*(t139-t172)).*2.0;
t1103 = -Ix_2.*t1026.*(t429-t731+t547.*(t132-t165));
t1104 = -Ix_2.*t1026.*(t730+t55.*t313+t547.*(t138-t170));
t1105 = Ix_2.*t1026.*(t429-t731+t547.*(t132-t165));
t1106 = -t933.*(-t489+t707+t18.*t86.*(t133-t167)+t16.*t86.*(t139-t172)+t54.*t89.*(t139-t172)+t62.*t92.*(t133-t167)+t62.*t96.*(t133-t167));
t1107 = -Iy_2.*t935.*(-t489+t707+t18.*t86.*(t133-t167)+t16.*t86.*(t139-t172)+t54.*t89.*(t139-t172)+t62.*t92.*(t133-t167)+t62.*t96.*(t133-t167));