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C23.m
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function out1 = C23(Ix_1,Iy_1,Iz_1,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,t_1,t_2,t_dot_1,t_dot_2)
%C23
% OUT1 = C23(IX_1,IY_1,IZ_1,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,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 18:08:45
%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 = l_1.^2;
t17 = cos(t2);
t18 = cos(t3);
t19 = sin(t2);
t20 = sin(t3);
t37 = t6+t12;
t38 = t8+t14;
t21 = b_1.*t17;
t22 = b_2.*t18;
t23 = k_1.*t17;
t24 = k_2.*t18;
t25 = b_1.*t19;
t26 = b_2.*t20;
t27 = k_1.*t19;
t28 = k_2.*t20;
t47 = 1.0./t37;
t50 = 1.0./t38;
t53 = sqrt(t37);
t54 = sqrt(t38);
t29 = l_1.*t21;
t30 = l_2.*t22;
t31 = l_1.*t23;
t32 = l_2.*t24;
t33 = l_1.*t25;
t34 = l_2.*t26;
t35 = l_1.*t27;
t36 = l_2.*t28;
t39 = -t27;
t40 = -t28;
t41 = t16.*t21;
t42 = t16.*t23;
t43 = t16.*t25;
t44 = t16.*t27;
t48 = t47.^2;
t49 = t47.^3;
t51 = t50.^2;
t55 = 1.0./t53;
t57 = 1.0./t54;
t60 = l_1.*t53;
t61 = l_2.*t54;
t62 = t23+t25;
t63 = t24+t26;
t45 = -t35;
t46 = -t36;
t52 = t16.*t39;
t56 = t55.^3;
t58 = t55.^5;
t59 = t57.^3;
t64 = cos(t60);
t65 = cos(t61);
t66 = sin(t60);
t67 = sin(t61);
t68 = t31+t33;
t69 = t32+t34;
t70 = t21+t39;
t71 = t22+t40;
t72 = t62.^2;
t90 = t42+t43;
t73 = t64.^2;
t74 = t66.^2;
t75 = t29+t45;
t76 = t30+t46;
t77 = t4.*t64;
t78 = t5.*t65;
t79 = t10.*t64;
t80 = t11.*t65;
t81 = t70.^2;
t82 = t64-1.0;
t83 = t65-1.0;
t85 = t6.*t64;
t86 = t8.*t65;
t87 = t12.*t64;
t88 = t14.*t65;
t91 = t41+t52;
t97 = b_1.*l_1.*t47.*t64;
t98 = k_1.*l_1.*t47.*t64;
t100 = b_1.*t56.*t66;
t101 = k_1.*t56.*t66;
t107 = b_1.*k_1.*l_1.*t48.*t64.*3.0;
t110 = b_1.*k_1.*t58.*t66.*3.0;
t128 = l_1.*t7.*t55.*t66;
t129 = l_1.*t6.*t56.*t66;
t130 = l_2.*t9.*t57.*t67;
t131 = l_1.*t13.*t55.*t66;
t132 = l_1.*t12.*t56.*t66;
t133 = l_2.*t15.*t57.*t67;
t134 = k_1.*l_1.*t4.*t55.*t66;
t141 = b_1.*t13.*t16.*t47.*t64;
t143 = k_1.*t7.*t16.*t47.*t64;
t156 = b_1.*l_1.*t12.*t55.*t66;
t157 = k_1.*l_1.*t6.*t55.*t66;
t161 = b_2.*l_2.*t14.*t57.*t67;
t162 = k_2.*l_2.*t8.*t57.*t67;
t186 = b_1.*l_1.*t12.*t58.*t66.*5.0;
t187 = k_1.*l_1.*t6.*t58.*t66.*5.0;
t240 = t12.*t29.*t56.*t66;
t241 = t6.*t31.*t56.*t66;
t242 = t14.*t30.*t59.*t67;
t243 = t8.*t32.*t59.*t67;
t246 = t12.*t33.*t56.*t66;
t247 = t6.*t35.*t56.*t66;
t248 = t14.*t34.*t59.*t67;
t249 = t8.*t36.*t59.*t67;
t302 = t12.*t41.*t56.*t66;
t303 = t6.*t42.*t56.*t66;
t304 = t12.*t43.*t56.*t66;
t305 = t6.*t44.*t56.*t66;
t328 = l_1.*t6.*t12.*t17.*t58.*t66.*5.0;
t329 = l_1.*t6.*t12.*t19.*t58.*t66.*5.0;
t357 = t55.*t65.*t66;
t374 = Iz_1.*t55.*t64.*t66;
t382 = t12.*t56.*t65.*t66;
t405 = b_1.*t12.*t58.*t65.*t66.*3.0;
t419 = Iz_1.*l_1.*t7.*t56.*t64.*t66.*-2.0;
t420 = Iz_1.*l_1.*t13.*t56.*t64.*t66.*-2.0;
t449 = t55.*t57.*t66.*t67;
t464 = b_2.*t55.*t59.*t66.*t67;
t466 = k_2.*t55.*t59.*t66.*t67;
t506 = b_2.*l_2.*t6.*t50.*t56.*t65.*t66;
t507 = b_1.*k_1.*t16.*t47.*t57.*t64.*t67;
t509 = k_2.*l_2.*t6.*t50.*t56.*t65.*t66;
t512 = t6.*t56.*t57.*t66.*t67;
t513 = t12.*t56.*t57.*t66.*t67;
t516 = b_2.*t6.*t56.*t59.*t66.*t67;
t517 = k_2.*t6.*t56.*t59.*t66.*t67;
t528 = b_1.*t12.*t57.*t58.*t66.*t67.*3.0;
t529 = k_1.*t6.*t57.*t58.*t66.*t67.*3.0;
t588 = l_2.*t8.*t17.*t55.*t59.*t66.*t67;
t589 = l_2.*t14.*t19.*t55.*t59.*t66.*t67;
t709 = l_2.*t8.*t55.*t59.*t66.*t67.*t68;
t84 = Iz_1.*t73;
t89 = t82.^2;
t92 = t12+t85;
t93 = t6+t87;
t94 = t14+t86;
t95 = t8+t88;
t96 = t47.*t74;
t99 = t47.*t82;
t102 = t10.*t48.*t74;
t103 = l_1.*t100;
t104 = l_1.*t101;
t108 = t4.*t48.*t74;
t109 = -t98;
t115 = -t100;
t117 = t4.*t48.*t82;
t118 = t10.*t48.*t82;
t119 = -t110;
t122 = b_1.*k_1.*l_1.*m_1.*t48.*t74;
t140 = b_1.*t16.*t48.*t87;
t142 = k_1.*t16.*t48.*t85;
t145 = l_1.*m_1.*t6.*t48.*t74;
t147 = l_1.*m_1.*t12.*t48.*t74;
t158 = k_1.*t16.*t100;
t172 = -t128;
t173 = -t130;
t174 = -t131;
t175 = -t133;
t177 = t22.*t50.*t83;
t179 = t24.*t50.*t83;
t181 = t26.*t50.*t83;
t183 = t28.*t50.*t83;
t199 = b_1.*t12.*t49.*t82.*8.0;
t200 = k_1.*t6.*t49.*t82.*8.0;
t201 = -t156;
t202 = -t157;
t205 = -t186;
t206 = -t161;
t207 = -t187;
t208 = -t162;
t213 = t17.*t129;
t214 = t17.*t132;
t217 = t19.*t129;
t219 = t19.*t132;
t221 = k_2.*t30.*t50.*t83;
t223 = k_2.*t34.*t50.*t83;
t231 = t40.*t50.*t83;
t256 = t12.*t19.*t48.*t82.*-2.0;
t271 = t5.*t14.*t18.*t51.*t83;
t272 = k_2.*t5.*t22.*t51.*t83;
t277 = t5.*t14.*t20.*t51.*t83;
t278 = k_2.*t5.*t26.*t51.*t83;
t285 = t6.*t17.*t48.*t82.*-2.0;
t286 = t12.*t17.*t48.*t82.*-2.0;
t287 = t6.*t19.*t48.*t82.*-2.0;
t288 = t12.*t16.*t17.*t48.*t85;
t289 = t12.*t16.*t19.*t48.*t85;
t340 = t6.*t12.*t17.*t49.*t82.*8.0;
t341 = t6.*t12.*t19.*t49.*t82.*8.0;
t342 = -t328;
t345 = -t329;
t356 = t65.*t97;
t368 = t65.*t100;
t375 = b_1.*t374;
t376 = k_1.*t374;
t380 = -t357;
t381 = l_1.*t47.*t65.*t87;
t383 = l_1.*t56.*t66.*t77;
t384 = l_1.*t56.*t66.*t79;
t385 = Iz_1.*k_1.*t64.*t100;
t387 = -t374;
t388 = b_1.*l_1.*t48.*t65.*t87.*3.0;
t390 = m_1.*t56.*t66.*t82;
t394 = Iz_1.*t56.*t66.*t85;
t395 = Iz_1.*t56.*t66.*t87;
t396 = Iz_1.*l_1.*t55.*t66.*t77;
t397 = Iz_1.*l_1.*t55.*t66.*t79;
t401 = b_1.*k_1.*l_1.*m_1.*t48.*t64.*t82;
t406 = m_1.*t82.*t100;
t407 = m_1.*t82.*t101;
t408 = Iz_1.*t77.*t129;
t409 = Iz_1.*t79.*t132;
t411 = l_1.*m_1.*t48.*t82.*t85;
t412 = l_1.*m_1.*t48.*t82.*t87;
t416 = -t405;
t421 = m_1.*t82.*t110;
t422 = Iz_1.*t77.*t132;
t429 = l_1.*t4.*t6.*t58.*t66.*t82;
t430 = m_1.*t6.*t58.*t66.*t82.*3.0;
t431 = l_1.*t10.*t12.*t58.*t66.*t82;
t432 = m_1.*t12.*t58.*t66.*t82.*3.0;
t433 = b_1.*k_1.*m_1.*t58.*t66.*t82.*-3.0;
t439 = l_1.*t4.*t12.*t58.*t66.*t82;
t440 = b_1.*k_1.*l_1.*t4.*t58.*t66.*t82;
t447 = b_1.*l_1.*m_1.*t12.*t58.*t66.*t82.*-2.0;
t448 = k_1.*l_1.*m_1.*t6.*t58.*t66.*t82.*-2.0;
t458 = t57.*t67.*t97;
t459 = b_2.*l_2.*t50.*t357;
t460 = t57.*t67.*t98;
t461 = k_2.*l_2.*t50.*t357;
t463 = t57.*t67.*t100;
t465 = t57.*t67.*t101;
t473 = l_1.*t47.*t57.*t67.*t85;
t474 = l_1.*t47.*t57.*t67.*t87;
t479 = b_2.*k_1.*t59.*t67.*t97;
t482 = k_1.*k_2.*t59.*t67.*t97;
t491 = b_1.*l_1.*t449;
t492 = k_1.*l_1.*t449;
t493 = b_2.*l_1.*l_2.*t47.*t50.*t65.*t85;
t494 = k_2.*l_1.*l_2.*t47.*t50.*t65.*t85;
t497 = b_2.*k_1.*t59.*t67.*t100;
t498 = b_1.*l_1.*t464;
t499 = k_1.*k_2.*t59.*t67.*t100;
t501 = b_1.*l_1.*t466;
t504 = -t466;
t505 = b_2.*l_1.*t47.*t59.*t67.*t85;
t508 = k_2.*l_1.*t47.*t59.*t67.*t85;
t518 = b_1.*l_1.*t48.*t57.*t67.*t87.*3.0;
t519 = k_1.*l_1.*t48.*t57.*t67.*t85.*3.0;
t521 = t18.*t449;
t523 = t20.*t449;
t527 = t19.*t50.*t55.*t66.*t83;
t538 = -t509;
t539 = -t512;
t540 = -t513;
t541 = t17.*t50.*t55.*t66.*t83;
t542 = k_2.*t29.*t47.*t50.*t64.*t83;
t543 = b_2.*t31.*t47.*t50.*t64.*t83;
t544 = b_2.*t33.*t47.*t50.*t64.*t83;
t545 = -t516;
t548 = k_2.*t35.*t47.*t50.*t64.*t83;
t564 = t18.*t512;
t566 = t20.*t512;
t567 = k_2.*t21.*t50.*t56.*t66.*t83;
t568 = b_2.*t23.*t50.*t56.*t66.*t83;
t570 = b_2.*t25.*t50.*t56.*t66.*t83;
t573 = k_2.*t27.*t50.*t56.*t66.*t83;
t575 = k_2.*l_2.*t17.*t464;
t576 = k_2.*l_2.*t19.*t464;
t580 = k_2.*t45.*t47.*t50.*t64.*t83;
t586 = k_2.*t5.*t17.*t51.*t55.*t66.*t83;
t587 = k_2.*t5.*t19.*t51.*t55.*t66.*t83;
t596 = b_2.*t5.*t17.*t51.*t55.*t66.*t83;
t598 = k_2.*t11.*t19.*t51.*t55.*t66.*t83;
t609 = t63.*t449;
t616 = t50.*t62.*t83.*t97;
t618 = t63.*t464;
t621 = t63.*t466;
t626 = t50.*t62.*t83.*t100;
t639 = k_2.*t50.*t62.*t83.*t98;
t641 = t63.*t512;
t642 = b_2.*k_2.*l_2.*t59.*t62.*t67.*t97;
t643 = t50.*t70.*t83.*t97;
t646 = k_2.*t50.*t62.*t83.*t101;
t647 = t50.*t55.*t66.*t68.*t83;
t655 = t63.*t506;
t657 = t63.*t509;
t658 = t50.*t70.*t83.*t100;
t662 = t76.*t449;
t663 = b_2.*k_2.*l_1.*t47.*t51.*t62.*t77.*t83;
t664 = k_2.*t50.*t62.*t83.*t107;
t665 = l_2.*t14.*t59.*t62.*t67.*t97;
t666 = t63.*t516;
t667 = t63.*t517;
t668 = b_2.*t50.*t68.*t83.*t97;
t669 = b_2.*t50.*t68.*t83.*t98;
t671 = b_2.*t50.*t70.*t83.*t98;
t677 = b_2.*k_2.*l_2.*t59.*t62.*t67.*t100;
t680 = l_1.*t14.*t47.*t51.*t62.*t77.*t83;
t681 = b_2.*t50.*t68.*t83.*t100;
t682 = b_2.*t50.*t68.*t83.*t101;
t683 = b_2.*k_2.*l_2.*t59.*t67.*t70.*t97;
t685 = k_2.*l_2.*t68.*t464;
t687 = b_2.*t50.*t70.*t83.*t101;
t689 = t50.*t55.*t66.*t75.*t83;
t690 = t63.*t529;
t694 = b_2.*k_2.*t4.*t51.*t56.*t62.*t66.*t83;
t697 = k_2.*t50.*t62.*t83.*t110;
t698 = t71.*t507;
t699 = k_1.*l_1.*t48.*t57.*t63.*t67.*t85.*-3.0;
t702 = l_2.*t14.*t59.*t62.*t67.*t100;
t704 = b_2.*t50.*t70.*t83.*t107;
t705 = b_2.*k_2.*l_1.*t47.*t51.*t70.*t77.*t83;
t706 = l_2.*t8.*t59.*t67.*t70.*t97;
t707 = k_2.*t5.*t51.*t55.*t66.*t68.*t83;
t715 = k_2.*t50.*t75.*t83.*t97;
t716 = k_2.*t50.*t75.*t83.*t98;
t718 = t4.*t14.*t51.*t56.*t62.*t66.*t83;
t719 = b_2.*k_2.*t51.*t62.*t83.*t100.*-2.0;
t720 = b_1.*k_1.*k_2.*t50.*t58.*t62.*t66.*t83.*-3.0;
t723 = b_2.*k_2.*l_2.*t59.*t67.*t70.*t100;
t726 = l_1.*t8.*t47.*t51.*t70.*t77.*t83;
t727 = b_2.*t5.*t51.*t55.*t66.*t68.*t83;
t728 = k_2.*t50.*t75.*t83.*t100;
t731 = k_2.*t50.*t75.*t83.*t101;
t732 = k_2.*l_2.*t75.*t464;
t736 = t14.*t51.*t62.*t83.*t100.*-2.0;
t737 = b_2.*k_2.*t4.*t51.*t56.*t66.*t70.*t83;
t738 = b_2.*t50.*t70.*t83.*t110;
t740 = l_2.*t8.*t59.*t67.*t70.*t100;
t742 = t76.*t512;
t743 = t8.*t51.*t55.*t66.*t68.*t83.*-2.0;
t744 = k_2.*t5.*t51.*t55.*t66.*t75.*t83;
t750 = -t709;
t751 = l_2.*t14.*t55.*t59.*t66.*t67.*t75;
t756 = k_2.*t50.*t55.*t66.*t83.*t90;
t758 = t4.*t8.*t51.*t56.*t66.*t70.*t83;
t759 = b_2.*k_2.*t51.*t70.*t83.*t100.*-2.0;
t760 = b_1.*b_2.*k_1.*t50.*t58.*t66.*t70.*t83.*-3.0;
t765 = k_2.*t11.*t51.*t55.*t66.*t75.*t83;
t769 = t8.*t51.*t70.*t83.*t100.*-2.0;
t771 = t14.*t51.*t55.*t66.*t75.*t83.*-2.0;
t779 = b_2.*t50.*t55.*t66.*t83.*t91;
t105 = Iz_1.*b_1.*t96;
t106 = Iz_1.*k_1.*t96;
t111 = Iz_1.*t4.*t96;
t112 = Iz_1.*t10.*t96;
t113 = k_1.*t103;
t114 = -t99;
t120 = b_1.*k_1.*l_1.*t47.*t84;
t127 = k_1.*t117;
t135 = Iz_1.*t6.*t96;
t136 = Iz_1.*t12.*t96;
t137 = l_1.*t12.*t47.*t84;
t144 = t17.*t99;
t146 = t19.*t99;
t148 = t4.*t48.*t89;
t149 = b_1.*t117;
t150 = t10.*t48.*t89;
t151 = k_1.*t118;
t152 = Iz_1.*t6.*t108;
t153 = Iz_1.*t12.*t102;
t154 = b_1.*m_1.*t48.*t89;
t155 = k_1.*m_1.*t48.*t89;
t159 = t13.*t103;
t160 = t7.*t104;
t163 = l_1.*t6.*t47.*t84;
t165 = Iz_1.*t12.*t108;
t166 = Iz_1.*b_1.*k_1.*t108;
t169 = -t122;
t170 = b_1.*t48.*t89.*-2.0;
t171 = k_1.*t48.*t89.*-2.0;
t176 = t21.*t99;
t178 = t23.*t99;
t180 = t25.*t99;
t182 = t27.*t99;
t184 = t6.*t48.*t89;
t185 = t12.*t48.*t89;
t188 = t31.*t99;
t190 = k_2.*t181;
t191 = t33.*t99;
t192 = t35.*t99;
t196 = -t147;
t197 = t7.*t49.*t89.*4.0;
t198 = t13.*t49.*t89.*4.0;
t210 = k_2.*t177;
t211 = t29.*t99;
t215 = b_1.*t12.*t49.*t89.*4.0;
t216 = k_1.*t6.*t49.*t89.*4.0;
t225 = -t177;
t227 = -t179;
t229 = -t181;
t230 = t39.*t99;
t232 = -t199;
t233 = -t200;
t235 = t27.*t118;
t239 = t45.*t99;
t250 = t21.*t117;
t251 = t23.*t118;
t255 = t25.*t117;
t257 = -t213;
t258 = -t214;
t259 = t17.*t47.*t92;
t260 = t17.*t47.*t93;
t261 = t18.*t50.*t94;
t262 = t18.*t50.*t95;
t263 = -t217;
t264 = -t219;
t265 = t19.*t47.*t92;
t266 = t19.*t47.*t93;
t267 = t20.*t50.*t94;
t268 = t20.*t50.*t95;
t269 = t12.*t17.*t117;
t274 = -t221;
t275 = t12.*t19.*t117;
t280 = -t223;
t281 = b_1.*m_1.*t12.*t49.*t89.*-4.0;
t282 = k_1.*m_1.*t6.*t49.*t89.*-4.0;
t283 = k_1.*t41.*t99;
t284 = k_1.*t43.*t99;
t306 = t4+t201;
t307 = t5+t206;
t308 = t10+t202;
t309 = t11+t208;
t310 = t4.*t17.*t48.*t92;
t311 = t4.*t17.*t48.*t93;
t312 = t5.*t18.*t51.*t94;
t313 = t5.*t18.*t51.*t95;
t314 = t10.*t17.*t48.*t92;
t315 = t10.*t17.*t48.*t93;
t316 = t11.*t18.*t51.*t94;
t317 = t11.*t18.*t51.*t95;
t318 = t4.*t19.*t48.*t92;
t319 = t4.*t19.*t48.*t93;
t320 = t5.*t20.*t51.*t94;
t321 = t5.*t20.*t51.*t95;
t322 = t10.*t19.*t48.*t92;
t323 = t10.*t19.*t48.*t93;
t324 = t11.*t20.*t51.*t94;
t325 = t11.*t20.*t51.*t95;
t330 = -t288;
t331 = -t289;
t332 = t21.*t48.*t92.*-2.0;
t333 = t22.*t51.*t94.*-2.0;
t334 = t23.*t48.*t92.*-2.0;
t335 = t24.*t51.*t94.*-2.0;
t336 = t25.*t48.*t93.*-2.0;
t337 = t26.*t51.*t95.*-2.0;
t338 = t27.*t48.*t93.*-2.0;
t339 = t28.*t51.*t95.*-2.0;
t358 = -t340;
t359 = -t341;
t360 = k_1.*t21.*t49.*t92.*8.0;
t361 = k_1.*t21.*t49.*t93.*8.0;
t362 = t29.*t48.*t92.*-2.0;
t363 = t31.*t48.*t92.*-2.0;
t364 = k_1.*t25.*t49.*t92.*8.0;
t365 = k_1.*t25.*t49.*t93.*8.0;
t366 = t33.*t48.*t93.*-2.0;
t367 = t35.*t48.*t93.*-2.0;
t369 = k_1.*t356;
t377 = -t356;
t378 = k_1.*t368;
t379 = Ix_1.*t72.*t96;
t389 = -t375;
t391 = t64.*t103.*-2.0;
t392 = Iy_1.*t81.*t96;
t393 = t64.*t104.*-2.0;
t398 = -t381;
t399 = Ix_1.*t72.*t108;
t400 = Ix_1.*t72.*t102;
t402 = Ix_1.*t17.*t62.*t96.*2.0;
t403 = Iz_1.*k_1.*t64.*t115;
t404 = Ix_1.*t19.*t62.*t96.*2.0;
t410 = -t390;
t413 = -t395;
t417 = Iy_1.*t81.*t108;
t418 = Iy_1.*t81.*t102;
t424 = -t401;
t425 = t12.*t16.*t368;
t426 = Iy_1.*t17.*t70.*t96.*2.0;
t427 = Iy_1.*t19.*t70.*t96.*2.0;
t428 = m_1.*t82.*t115;
t434 = Iz_1.*t87.*t103.*-2.0;
t435 = Iz_1.*t85.*t104.*-2.0;
t436 = -t411;
t438 = -t432;
t441 = t79+t174;
t442 = t80+t175;
t443 = m_1.*t439;
t444 = m_1.*t440;
t445 = t77+t172;
t446 = t78+t173;
t462 = k_1.*t458;
t481 = b_1.*l_1.*t459;
t484 = b_1.*l_1.*t461;
t489 = b_2.*l_2.*t50.*t380;
t490 = k_1.*t463;
t502 = t57.*t67.*t115;
t503 = -t465;
t525 = -t491;
t526 = -t493;
t530 = b_2.*k_1.*t59.*t67.*t115;
t531 = -t498;
t532 = k_1.*k_2.*t59.*t67.*t115;
t534 = -t501;
t535 = -t518;
t536 = -t519;
t537 = -t508;
t546 = Ix_1.*t62.*t75.*t96.*2.0;
t547 = Iy_1.*t68.*t70.*t96.*2.0;
t549 = b_2.*t541;
t550 = k_2.*t541;
t551 = b_2.*t527;
t552 = k_2.*t527;
t553 = t18.*t491;
t554 = t20.*t491;
t557 = t18.*t473;
t558 = t20.*t473;
t559 = t12.*t16.*t463;
t560 = t6.*t16.*t465;
t561 = -t527;
t563 = Ix_1.*t72.*t383;
t565 = Ix_1.*t72.*t384;
t577 = -t541;
t578 = -t542;
t579 = -t543;
t592 = Iy_1.*t81.*t383;
t593 = t18.*t539;
t594 = Iy_1.*t81.*t384;
t595 = t20.*t539;
t597 = -t570;
t604 = t63.*t459;
t605 = t63.*t460;
t606 = t63.*t461;
t620 = t63.*t465;
t628 = t63.*t493;
t629 = t63.*t494;
t634 = t63.*t473;
t637 = k_2.*t616;
t644 = -t616;
t645 = k_2.*t626;
t649 = -t618;
t651 = t63.*t504;
t654 = t63.*t505;
t656 = t63.*t508;
t660 = t71.*t491;
t661 = t71.*t492;
t670 = b_2.*t643;
t672 = k_2.*t50.*t62.*t83.*t109;
t673 = t63.*t519;
t674 = b_2.*t647;
t678 = t69.*t491;
t679 = t63.*t539;
t684 = -t643;
t686 = b_2.*t658;
t688 = k_2.*t50.*t62.*t83.*t115;
t691 = t71.*t498;
t693 = t71.*t501;
t696 = -t655;
t701 = t63.*t538;
t703 = -t662;
t708 = t76.*t473;
t714 = -t668;
t717 = b_2.*t50.*t70.*t83.*t109;
t721 = k_2.*t689;
t722 = b_1.*k_2.*l_1.*l_2.*t50.*t71.*t380;
t724 = b_2.*k_2.*l_2.*t59.*t62.*t67.*t115;
t729 = -t682;
t733 = b_2.*t50.*t70.*t83.*t115;
t735 = k_2.*t50.*t62.*t83.*t158;
t739 = -t698;
t741 = l_2.*t14.*t59.*t62.*t67.*t115;
t757 = k_2.*t50.*t75.*t83.*t109;
t764 = b_2.*k_2.*l_2.*t59.*t67.*t70.*t115;
t766 = k_2.*t50.*t75.*t83.*t115;
t768 = b_2.*t50.*t70.*t83.*t158;
t770 = l_2.*t8.*t59.*t67.*t70.*t115;
t776 = -t751;
t990 = t756+t779;
t1251 = t647+t732+t743+t744+t750;
t116 = k_1.*t105;
t123 = -t105;
t124 = t105.*-2.0;
t125 = -t106;
t126 = t106.*-2.0;
t138 = l_1.*t135;
t139 = l_1.*t136;
t164 = -t120;
t168 = k_1.*t154;
t189 = k_1.*t180;
t194 = t17.*t114;
t195 = t19.*t114;
t203 = -t159;
t204 = -t160;
t209 = k_1.*t176;
t212 = -t163;
t220 = k_1.*t211;
t222 = k_1.*t191;
t224 = t21.*t114;
t226 = t23.*t114;
t228 = t25.*t114;
t234 = t31.*t114;
t237 = -t190;
t238 = t33.*t114;
t244 = m_1.*t215;
t245 = m_1.*t216;
t253 = -t210;
t254 = t29.*t114;
t270 = t21.*t127;
t276 = t25.*t127;
t290 = l_1.*t259;
t291 = l_1.*t260;
t292 = l_2.*t261;
t293 = l_2.*t262;
t294 = l_1.*t265;
t295 = l_1.*t266;
t296 = l_2.*t267;
t297 = l_2.*t268;
t298 = l_1.*t269;
t299 = t29.*t127;
t300 = l_1.*t275;
t301 = t33.*t127;
t326 = k_1.*t41.*t114;
t327 = k_1.*t43.*t114;
t343 = t16.*t259;
t344 = t16.*t260;
t346 = l_1.*t310;
t347 = l_1.*t311;
t348 = l_1.*t314;
t349 = l_1.*t315;
t350 = t16.*t265;
t351 = t16.*t266;
t352 = l_1.*t318;
t353 = l_1.*t319;
t354 = l_1.*t322;
t355 = l_1.*t323;
t370 = -t360;
t371 = -t361;
t372 = -t364;
t373 = -t365;
t386 = -t369;
t414 = -t402;
t415 = -t404;
t423 = Iz_1.*t77.*t113;
t437 = -t426;
t450 = t17.*t47.*t306;
t451 = t18.*t50.*t307;
t452 = t17.*t47.*t308;
t453 = t18.*t50.*t309;
t454 = t19.*t47.*t306;
t455 = t20.*t50.*t307;
t456 = t19.*t47.*t308;
t457 = t20.*t50.*t309;
t471 = b_2.*l_2.*t50.*t369;
t472 = k_2.*l_2.*t50.*t369;
t480 = b_2.*l_2.*t50.*t378;
t483 = k_2.*l_2.*t50.*t378;
t485 = t4.*t17.*t48.*t308;
t486 = t10.*t17.*t48.*t306;
t487 = t4.*t19.*t48.*t308;
t488 = t10.*t19.*t48.*t306;
t495 = b_2.*l_2.*t462;
t496 = k_2.*l_2.*t462;
t500 = t57.*t67.*t113;
t520 = b_2.*l_2.*t490;
t522 = k_2.*l_2.*t490;
t524 = k_1.*t502;
t562 = -t547;
t569 = l_1.*t549;
t571 = l_1.*t550;
t572 = l_1.*t551;
t574 = l_1.*t552;
t581 = -t550;
t582 = Ix_1.*t72.*t391;
t583 = Ix_1.*t72.*t393;
t584 = t96+t184;
t585 = t96+t185;
t590 = t12.*t16.*t502;
t591 = t6.*t16.*t503;
t601 = Iy_1.*t81.*t391;
t603 = Iy_1.*t81.*t393;
t607 = t17.*t47.*t445;
t608 = t18.*t50.*t446;
t610 = t19.*t47.*t445;
t611 = t20.*t50.*t446;
t612 = t17.*t47.*t441;
t613 = t18.*t50.*t442;
t614 = t19.*t47.*t441;
t615 = t20.*t50.*t442;
t617 = t63.*t462;
t619 = t184+t185;
t627 = t63.*t490;
t635 = t10.*t17.*t48.*t445;
t636 = t4.*t17.*t48.*t441;
t638 = t10.*t19.*t48.*t445;
t640 = t4.*t19.*t48.*t441;
t650 = t63.*t503;
t675 = t71.*t481;
t676 = t71.*t484;
t695 = -t654;
t700 = t63.*t537;
t712 = t190+t262;
t713 = t210+t267;
t725 = t69.*t525;
t730 = t63.*t560;
t734 = t71.*t531;
t745 = -t708;
t763 = -t721;
t812 = -t29.*t47.*t64.*(t210-t268);
t813 = -t31.*t47.*t64.*(t190-t261);
t814 = -t33.*t47.*t64.*(t190-t261);
t815 = -t35.*t47.*t64.*(t210-t268);
t820 = -t17.*t55.*t66.*(t190-t261);
t821 = -t17.*t55.*t66.*(t210-t268);
t824 = -t19.*t55.*t66.*(t190-t261);
t825 = -t19.*t55.*t66.*(t210-t268);
t842 = -t21.*t56.*t66.*(t210-t268);
t843 = -t23.*t56.*t66.*(t190-t261);
t848 = -t25.*t56.*t66.*(t190-t261);
t849 = -t27.*t56.*t66.*(t210-t268);
t855 = t29.*t47.*t64.*(t210-t268);
t856 = t33.*t47.*t64.*(t190-t261);
t857 = -t45.*t47.*t64.*(t210-t268);
t859 = t17.*t55.*t66.*(t190-t261);
t874 = t23.*t56.*t66.*(t190-t261);
t896 = -t62.*t97.*(t210-t268);
t897 = -t62.*t98.*(t210-t268);
t901 = -t62.*t100.*(t210-t268);
t902 = -t62.*t101.*(t210-t268);
t904 = -t62.*t107.*(t210-t268);
t905 = -t68.*t97.*(t190-t261);
t907 = -t68.*t98.*(t190-t261);
t911 = -t70.*t97.*(t190-t261);
t912 = -t70.*t98.*(t190-t261);
t913 = -t55.*t66.*t68.*(t190-t261);
t924 = -t68.*t100.*(t190-t261);
t927 = -t68.*t101.*(t190-t261);
t930 = -t70.*t100.*(t190-t261);
t931 = -t62.*t115.*(t210-t268);
t932 = -t70.*t101.*(t190-t261);
t933 = t62.*t101.*(t210-t268);
t934 = -t62.*t110.*(t210-t268);
t937 = -t70.*t107.*(t190-t261);
t938 = -t75.*t97.*(t210-t268);
t939 = -t75.*t98.*(t210-t268);
t940 = -t68.*t109.*(t190-t261);
t946 = t70.*t97.*(t190-t261);
t947 = -t70.*t109.*(t190-t261);
t948 = b_1.*k_1.*t58.*t62.*t66.*(t210-t268).*3.0;
t949 = -t55.*t66.*t75.*(t210-t268);
t954 = b_1.*k_1.*l_1.*t48.*t64.*t70.*(t190-t261).*3.0;
t955 = -t75.*t100.*(t210-t268);
t956 = -t68.*t115.*(t190-t261);
t958 = -t75.*t101.*(t210-t268);
t959 = -t62.*t158.*(t210-t268);
t960 = -t70.*t110.*(t190-t261);
t961 = -t55.*t66.*t90.*(t210-t268);
t962 = -t75.*t109.*(t210-t268);
t969 = -t75.*t115.*(t210-t268);
t970 = -t70.*t158.*(t190-t261);
t971 = -t55.*t66.*t91.*(t190-t261);
t972 = -k_1.*t16.*t70.*t115.*(t190-t261);
t973 = t55.*t66.*t91.*(t190-t261);
t999 = t108+t215+t391+t439;
t1000 = t102+t216+t393+t440;
t1014 = t108+t170+t197+t391+t429;
t1015 = t102+t171+t198+t393+t431;
t1018 = t170+t197+t215+t429+t439;
t1019 = t171+t198+t216+t431+t440;
t1187 = -m_1.*t97.*(t55.*t66.*t68.*(t190-t261)+t55.*t66.*t75.*(t210-t268));
t1188 = -m_1.*t55.*t66.*(t55.*t66.*t68.*(t190-t261)+t55.*t66.*t75.*(t210-t268));
t1189 = -m_1.*t99.*(t55.*t66.*t68.*(t190-t261)+t55.*t66.*t75.*(t210-t268));
t1190 = -m_1.*t100.*(t55.*t66.*t68.*(t190-t261)+t55.*t66.*t75.*(t210-t268));
t1192 = m_1.*t55.*t66.*(t55.*t66.*t68.*(t190-t261)+t55.*t66.*t75.*(t210-t268));
t1193 = -m_1.*t114.*(t55.*t66.*t68.*(t190-t261)+t55.*t66.*t75.*(t210-t268));
t1194 = -m_1.*t115.*(t55.*t66.*t68.*(t190-t261)+t55.*t66.*t75.*(t210-t268));
t1195 = -m_1.*t129.*(t55.*t66.*t68.*(t190-t261)+t55.*t66.*t75.*(t210-t268));
t1196 = -m_1.*t149.*(t55.*t66.*t68.*(t190-t261)+t55.*t66.*t75.*(t210-t268));
t1252 = t685+t689+t707+t771+t776;
t1298 = t97+t115+t525+t549+t552+t637+t670+t688+t733;
t1363 = -m_1.*t55.*t66.*(t68.*t97.*(t190-t261)+t68.*t115.*(t190-t261)+t75.*t97.*(t210-t268)+t75.*t115.*(t210-t268)+l_1.*t19.*t55.*t66.*(t190-t261)+l_1.*t17.*t55.*t66.*(t210-t268));
t1365 = -b_1.*m_1.*t99.*(t68.*t97.*(t190-t261)+t68.*t115.*(t190-t261)+t75.*t97.*(t210-t268)+t75.*t115.*(t210-t268)+l_1.*t19.*t55.*t66.*(t190-t261)+l_1.*t17.*t55.*t66.*(t210-t268));
t1367 = -b_1.*m_1.*t114.*(t68.*t97.*(t190-t261)+t68.*t115.*(t190-t261)+t75.*t97.*(t210-t268)+t75.*t115.*(t210-t268)+l_1.*t19.*t55.*t66.*(t190-t261)+l_1.*t17.*t55.*t66.*(t210-t268));
t1440 = t484+t534+t561+t575+t586+t589+t598+t626+t644+t665+t680+t683+t705+t736+t741+t759+t764;
t1441 = t481+t531+t576+t577+t587+t588+t596+t642+t658+t663+t684+t706+t719+t724+t726+t769+t770;
t121 = l_1.*t116;
t193 = -t139;
t218 = -t168;
t236 = k_1.*t228;
t252 = k_1.*t224;
t273 = k_1.*t254;
t279 = k_1.*t238;
t467 = l_1.*t450;
t468 = l_1.*t452;
t469 = l_1.*t454;
t470 = l_1.*t456;
t475 = -t450;
t476 = -t451;
t477 = -t456;
t478 = -t457;
t514 = b_2.*l_2.*t50.*t386;
t515 = k_2.*l_2.*t50.*t386;
t533 = -t500;
t555 = b_2.*l_2.*t524;
t556 = k_2.*l_2.*t524;
t599 = -t572;
t600 = m_1.*t584;
t602 = m_1.*t585;
t622 = l_1.*t607;
t623 = l_1.*t610;
t624 = l_1.*t612;
t625 = l_1.*t614;
t630 = -t610;
t631 = -t611;
t632 = -t612;
t633 = -t613;
t648 = m_1.*t619;
t659 = t63.*t524;
t692 = t71.*t500;
t710 = t189+t260;
t711 = t209+t265;
t746 = t222+t291;
t747 = t220+t294;
t748 = t223+t293;
t749 = t221+t296;
t754 = t237+t261;
t755 = t253+t268;
t767 = t63.*t591;
t774 = t280+t292;
t775 = t274+t297;
t780 = (t189-t259).^2;
t781 = (t209-t266).^2;
t782 = t284+t344;
t783 = t283+t350;
t786 = t327+t343;
t787 = t326+t351;
t788 = t134+t141+t203;
t789 = t134+t143+t204;
t798 = -t57.*t67.*(t220-t295);
t805 = -b_2.*k_2.*l_2.*t50.*t65.*(t220-t295);
t808 = -t50.*t83.*(t222-t290);
t809 = -t50.*t83.*(t220-t295);
t822 = -b_2.*k_2.*t59.*t67.*(t220-t295);
t828 = -l_2.*t50.*t88.*(t220-t295);
t832 = -t14.*t59.*t67.*(t220-t295);
t836 = -Iy_1.*t17.*t55.*t66.*(t189-t259);
t837 = -Iy_1.*t17.*t55.*t66.*(t209-t266);
t839 = -Iy_1.*t19.*t55.*t66.*(t189-t259);
t840 = -Iy_1.*t19.*t55.*t66.*(t209-t266);
t844 = l_1.*t820;
t845 = l_1.*t821;
t846 = -b_2.*k_2.*l_2.*t59.*t67.*(t222-t290);
t850 = l_1.*t824;
t851 = l_1.*t825;
t852 = t50.*t83.*(t220-t295);
t858 = k_2.*t50.*t83.*(t222-t290);
t860 = b_2.*k_2.*t59.*t67.*(t220-t295);
t862 = -k_2.*t5.*t51.*t83.*(t222-t290);
t863 = -k_2.*t5.*t51.*t83.*(t220-t295);
t865 = -l_2.*t14.*t59.*t67.*(t222-t290);
t867 = t14.*t59.*t67.*(t220-t295);
t868 = -k_2.*t11.*t51.*t83.*(t222-t290);
t869 = -k_2.*t11.*t51.*t83.*(t220-t295);
t870 = -b_2.*t57.*t67.*(t283-t351);
t871 = Iy_1.*t19.*t55.*t66.*(t189-t259);
t872 = Iy_1.*t19.*t55.*t66.*(t209-t266);
t875 = l_1.*t859;
t876 = t14.*t51.*t83.*(t222-t290).*2.0;
t877 = l_2.*t14.*t59.*t67.*(t222-t290);
t878 = -b_2.*t50.*t83.*(t284-t343);
t879 = -b_2.*t50.*t83.*(t283-t351);
t880 = b_2.*t50.*t83.*(t283-t351);
t914 = Iy_1.*t70.*t109.*(t189-t259);
t915 = Iy_1.*t70.*t109.*(t209-t266);
t918 = -Ix_1.*t55.*t62.*t66.*(t222-t290);
t919 = -Ix_1.*t55.*t62.*t66.*(t220-t295);
t920 = -Iy_1.*t55.*t66.*t68.*(t189-t259);
t921 = -Iy_1.*t55.*t66.*t68.*(t209-t266);
t928 = -Iy_1.*t55.*t66.*t70.*(t189-t259);
t929 = -Iy_1.*t55.*t66.*t70.*(t209-t266);
t935 = -Iy_1.*t70.*t97.*(t189-t259);
t936 = -Iy_1.*t70.*t97.*(t209-t266);
t941 = Iy_1.*t70.*t115.*(t189-t259);
t942 = Iy_1.*t70.*t115.*(t209-t266);
t944 = -Iy_1.*t70.*t101.*(t189-t259);
t945 = -Iy_1.*t70.*t101.*(t209-t266);
t950 = Ix_1.*t55.*t62.*t66.*(t220-t295);
t951 = Iy_1.*t55.*t66.*t68.*(t189-t259);
t963 = Iy_1.*t70.*t100.*(t189-t259);
t964 = Iy_1.*t70.*t100.*(t209-t266);
t966 = Iy_1.*t70.*t101.*(t189-t259);
t967 = Iy_1.*t70.*t101.*(t209-t266);
t968 = t546+t562;
t974 = t674+t763;
t978 = -t712.*(t222-t290);
t983 = Iy_1.*(t189-t259).*(t209-t266);
t985 = t712.*(t222-t290);
t997 = (t222-t290).*(t221-t297);
t998 = -t713.*(t284-t343);
t1001 = m_1.*t999;
t1002 = m_1.*t1000;
t1016 = m_1.*t1014;
t1017 = m_1.*t1015;
t1020 = t226+t241+t270+t336+t454;
t1021 = t227+t243+t272+t337+t455;
t1022 = t228+t246+t275+t334+t452;
t1023 = t229+t248+t277+t335+t453;
t1028 = m_1.*t1018;
t1029 = m_1.*t1019;
t1040 = t230+t247+t276+t332+t607;
t1041 = t231+t249+t278+t333+t608;
t1042 = t224+t240+t269+t338+t614;
t1043 = t225+t242+t271+t339+t615;
t1092 = t913+t949;
t1141 = t961+t973;
t1191 = b_1.*t1189;
t1253 = t569+t574+t669+t729+t731+t757;
t1256 = -m_1.*(-t571+t572+t668-t715+t728+b_2.*t50.*t68.*t83.*t115);
t1257 = m_1.*(-t571+t572+t668-t715+t728+b_2.*t50.*t68.*t83.*t115);
t1297 = t101+t109+t492+t551+t581+t646+t672+t687+t717;
t1299 = m_1.*t1298;
t1372 = t661+t821+t824+t897+t932+t933+t947;
t1375 = t660+t825+t859+t896+t930+t931+t946;
t1380 = -m_1.*t55.*t66.*(t820+t911+t71.*t525+t70.*t100.*(t190-t261)+t62.*t97.*(t210-t268)+t62.*t115.*(t210-t268)+t19.*t55.*t66.*(t210-t268));
t1383 = -b_1.*m_1.*t99.*(t820+t911+t71.*t525+t70.*t100.*(t190-t261)+t62.*t97.*(t210-t268)+t62.*t115.*(t210-t268)+t19.*t55.*t66.*(t210-t268));
t1384 = m_1.*t55.*t66.*(t820+t911+t71.*t525+t70.*t100.*(t190-t261)+t62.*t97.*(t210-t268)+t62.*t115.*(t210-t268)+t19.*t55.*t66.*(t210-t268));
t167 = -t121;
t510 = -t467;
t511 = -t470;
t652 = -t623;
t653 = -t624;
t752 = t236+t259;
t753 = t252+t266;
t761 = t710.^2;
t762 = t711.^2;
t772 = t279+t290;
t773 = t273+t295;
t784 = Iy_1.*t780;
t785 = Iy_1.*t781;
t790 = t57.*t67.*t746;
t791 = b_2.*k_2.*l_2.*t50.*t65.*t746;
t792 = t50.*t83.*t746;
t793 = t50.*t83.*t747;
t797 = b_2.*k_2.*t59.*t67.*t746;
t799 = l_2.*t50.*t86.*t746;
t800 = t8.*t59.*t67.*t746;
t801 = Ix_1.*t17.*t55.*t66.*t710;
t802 = Ix_1.*t17.*t55.*t66.*t711;
t803 = Ix_1.*t19.*t55.*t66.*t710;
t804 = Ix_1.*t19.*t55.*t66.*t711;
t807 = b_2.*k_2.*l_2.*t59.*t67.*t747;
t811 = k_2.*t798;
t816 = t17.*t55.*t66.*t749;
t817 = t19.*t55.*t66.*t748;
t818 = k_2.*t808;
t819 = k_2.*t809;
t826 = k_2.*t5.*t51.*t83.*t746;
t827 = k_2.*t5.*t51.*t83.*t747;
t830 = l_2.*t8.*t59.*t67.*t747;
t833 = b_2.*t5.*t51.*t83.*t746;
t834 = b_2.*t5.*t51.*t83.*t747;
t841 = k_2.*t57.*t67.*t782;
t847 = l_2.*t822;
t853 = k_2.*t50.*t83.*t782;
t854 = k_2.*t50.*t83.*t783;
t861 = t8.*t51.*t83.*t747.*-2.0;
t866 = l_2.*t832;
t881 = Ix_1.*t62.*t98.*t710;
t882 = Ix_1.*t62.*t98.*t711;
t883 = t17.*t47.*t788;
t884 = t17.*t47.*t789;
t885 = t19.*t47.*t788;
t886 = t19.*t47.*t789;
t887 = Ix_1.*t55.*t62.*t66.*t710;
t888 = Ix_1.*t55.*t62.*t66.*t711;
t889 = Ix_1.*t62.*t97.*t710;
t890 = Ix_1.*t62.*t97.*t711;
t891 = t62.*t97.*t748;