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example-inc-output.txt
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load linear algebra package
> restart;
> with(CodeGeneration):
> with(LinearAlgebra):
Equation
Transformation matrices for tower middle
> R[rho] := Matrix([[cos(rho),0,-sin(rho)],[0,1,0],[sin(rho),0,cos(rho)]]);
Equation
Transformation matrices for blade 1
> R[psi[1]] := Matrix([[-cos(psi),sin(psi),0],[-sin(psi),-cos(psi),0],[0,0,1]]);
Equation
> R[beta[1]] := Matrix([[cos(beta[1]),0,-sin(beta[1])],[0,1,0],[sin(beta[1]),0,cos(beta[1])]]);
Equation
Transformation matrices for blade 2
> R[psi[2]] := Matrix([[cos(psi),-sin(psi),0],[sin(psi),cos(psi),0],[0,0,1]]);
Equation
> R[beta[2]] := Matrix([[cos(beta[2]),0,-sin(beta[2])],[0,1,0],[sin(beta[2]),0,cos(beta[2])]]);
Equation
omega of blade 1, in function of {E_beta_1}
omega of the tower, in function of {E_1}
> omega[rho] := Vector[row]([0,rho[flux],0]);
Equation
> omega[rho[1]] := Multiply(omega[rho],Multiply(Transpose(R[psi[1]]),Transpose(R[beta[1]])));
Equation
> omega[Omega[1]] := Multiply(Vector[row]([0,0,-Omega]),Transpose(R[beta[1]]));
Equation
> omega[beta[1]] := Vector[row]([0,beta[flux[1]],0]);
Equation
> omega[1] := VectorAdd(VectorAdd(omega[rho[1]],omega[Omega[1]]), omega[beta[1]]);
Equation
> p_omega[1]:=omega[1][1];
Equation
> q_omega[1]:=omega[1][2];
Equation
> r_omega[1]:=omega[1][3];
Equation
Equation
omega of blade 2, in function of {E_beta_2}
> omega[rho[2]] := Multiply(omega[rho],Multiply(Transpose(R[psi[2]]),Transpose(R[beta[2]])));
Equation
> omega[Omega[2]] := Multiply(Vector[row]([0,0,-Omega]),Transpose(R[beta[2]]));
Equation
> omega[beta[2]] := Vector[row]([0,beta[flux[2]],0]);
Equation
> omega[2] := VectorAdd(VectorAdd(omega[rho[2]],omega[Omega[2]]), omega[beta[2]]);
Equation
> p_omega[2]:=omega[2][1];
Equation
> q_omega[2]:=omega[2][2];
Equation
> r_omega[2]:=omega[2][3];
Equation
rotation operators
> Omega[Xomega[rho]]:=Matrix([[0,0,-rho[flux]],[0,0,0],[rho[flux],0,0]]);
Equation
> Omega[Xomega[1]]:=Matrix([[0,r_omega[1],-q_omega[1]],[-r_omega[1],0,p_omega[1]],[q_omega[1],-p_omega[1],0]]);
Equation
> Omega[Xomega[2]]:=Matrix([[0,r_omega[2],-q_omega[2]],[-r_omega[2],0,p_omega[2]],[q_omega[2],-p_omega[2],0]]);
Equation
Position vectors for the cg of the blades and the cg of the 2nd tower section
All captial R position vectors here are expressed in {E_1}
all r position vectors are in local reference frame
> r_2 := Vector[row]([l/2,0,0]);
Equation
> r_0 := Vector[row]([l/2,0,0]);
Equation
> r_cg_beta := Vector[row]([R/2,0,0]);
Equation
> r_cg_T := Vector[row]([l/4,0,0]);
Equation
> r_3_beta_1 := Vector[row]([(-e*cos(psi)),(e*sin(psi)),0]);
Equation
> r_3_beta_2 := Vector[row]([(e*cos(psi)),(-e*sin(psi)),0]);
Equation
> r_3_beta_1_flux := Vector[row]([(e*sin(psi)*psi[flux]),(e*cos(psi)*psi[flux]),0]);
Equation
> r_3_beta_2_flux := Vector[row]([(-e*sin(psi)*psi[flux]),(-e*cos(psi)*psi[flux]),0]);
Equation
> R_cg_beta_1 := Multiply(r_0,Transpose(R[rho])) + r_2 + r_3_beta_1 + Multiply(r_cg_beta,Multiply(R[beta[1]],R[psi[1]]));
Equation
> R_cg_beta_2 := Multiply(r_0,Transpose(R[rho])) + r_2 + r_3_beta_2 + Multiply(r_cg_beta,Multiply(R[beta[2]],R[psi[2]]));
Equation
> R_cg_T := Multiply(r_0,Transpose(R[rho])) + r_cg_T;
Equation
> R_cg_beta_1_flux := Multiply(r_2,Omega[Xomega[rho]]) + Multiply(r_3_beta_1,Omega[Xomega[rho]]) + r_3_beta_1_flux + Multiply(r_cg_beta,Multiply(Omega[Xomega[1]],Multiply(R[beta[1]],R[psi[1]])));
Equation
> R_cg_beta_2_flux := Multiply(r_2,Omega[Xomega[rho]]) + Multiply(r_3_beta_2,Omega[Xomega[rho]]) + r_3_beta_2_flux + Multiply(r_cg_beta,Multiply(Omega[Xomega[2]],Multiply(R[beta[2]],R[psi[2]])));
Equation
> R_cg_T_flux := Multiply(r_cg_T,Omega[Xomega[rho]]);
Equation
Inertia matrices of cg
> JB = (1/12)*m_b*R*R;
Equation
> J[blade] := Matrix([[0,0,0],[0,JB,0],[0,0,JB]]);
Equation
> JT = (1/12)*m_t*(l/2)*(l/2);
Equation
> J[tower] := Matrix([[0,0,0],[0,JT,0],[0,0,JT]]);
Equation
Kinetic energy: translational part
> T_blade_1 := 0.5*m_b*((R_cg_beta_1_flux[1]*R_cg_beta_1_flux[1])+(R_cg_beta_1_flux[2]*R_cg_beta_1_flux[2])+(R_cg_beta_1_flux[3]*R_cg_beta_1_flux[3]));
Equation
> T_blade_2 := 0.5*m_b*((R_cg_beta_2_flux[1]*R_cg_beta_2_flux[1])+(R_cg_beta_2_flux[2]*R_cg_beta_2_flux[2])+(R_cg_beta_2_flux[3]*R_cg_beta_2_flux[3]));
Equation
> T_tower := 0.5*m_t*((R_cg_T_flux[1]*R_cg_T_flux[1])+(R_cg_T_flux[2]*R_cg_T_flux[2])+(R_cg_T_flux[3]*R_cg_T_flux[3]));
Equation
Kinetic energy: rotational part
Equation
> D_blade_1 := Multiply(omega[1],J[blade]);
Equation
> D_blade_2 := Multiply(omega[2],J[blade]);
Equation
> D_tower := Multiply(omega[rho],J[tower]);
Equation
> T_rot_blade_1 := 0.5*((D_blade_1[1]*omega[1][1])+(D_blade_1[2]*omega[1][2])+(D_blade_1[3]*omega[1][3]));
Equation
> T_rot_blade_2 := 0.5*((D_blade_2[1]*omega[2][1])+(D_blade_2[2]*omega[2][2])+(D_blade_2[3]*omega[2][3]));
Equation
> T_rot_tower := 0.5*((D_tower[1]*omega[rho][1])+(D_tower[2]*omega[rho][2])+(D_tower[3]*omega[rho][3]));
Equation
Total kinetic energy
> T_total := T_blade_1 + T_blade_2 + T_tower + T_rot_blade_1 + T_rot_blade_2 + T_rot_tower;
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%)), `simplify length` = length(symplify(%));
Equation
Potential energy
> g := Vector[row]([g_,0,0]);
Equation
Position vectors expressed in {E_0} for the potential energy
> R_cg_blade_1_0 := r_0 + Multiply(r_2,R[rho]) + Multiply(r_3_beta_1,R[rho]) + Multiply(r_cg_beta,Multiply(R[beta[1]],Multiply(R[psi[1]],R[rho])));
Equation
> R_cg_blade_2_0 := r_0 + Multiply(r_2,R[rho]) + Multiply(r_3_beta_2,R[rho]) + Multiply(r_cg_beta,Multiply(R[beta[2]],Multiply(R[psi[2]],R[rho])));
Equation
> R_cg_T_0 := r_0 + Multiply(r_cg_T,R[rho]);
Equation
> V_g := (m_b*g[1]*(R_cg_blade_1_0[1] + R_cg_blade_2_0[1]))+(m_t*g[1]*R_cg_T_0[1]);
Equation
> V_springs := 1/2*kb*beta[1]*beta[1]+1/2*kb*beta[2]*beta[2]+1/2*ka*rho*rho;
Equation
> V_total := V_g + V_springs;
Equation
> `starting length` = length(V_total), `converting to horner`=length(convert(V_total,horner)), factoring=length(factor(V_total)), `simplify length` = length(symplify(V_total));
Equation
Full equations of motion using the Lagrangian
eq of motion for beta_1
> dT_dbeta1flux := diff(T_total, beta[flux[1]]);
Equation
> dT_dbeta1 := diff(T_total, beta[1]);
Equation
> dV_dbeta1 := diff(V_total, beta[1]);
Equation
indicate time dependencies
indicate time dependencies
> dT_dbeta1_t := subs({beta[flux[1]]=beta[flux[1]](t),beta[flux[2]]=beta[flux[2]](t),rho[flux]=rho[flux](t), psi[flux]=Omega, beta[1]=beta[1](t), beta[2]=beta[2](t), rho=rho(t), psi=Omega*t},dT_dbeta1);
Equation
> dV_dbeta1_t := subs({beta[flux[1]]=beta[flux[1]](t),beta[flux[2]]=beta[flux[2]](t),rho[flux]=rho[flux](t), psi[flux]=Omega, beta[1]=beta[1](t), beta[2]=beta[2](t), rho=rho(t), psi=Omega*t},dV_dbeta1);
Equation
> dT_dbeta1flux_t := subs({beta[flux[1]]=beta[flux[1]](t),beta[flux[2]]=beta[flux[2]](t),rho[flux]=rho[flux](t), psi[flux]=Omega, beta[1]=beta[1](t), beta[2]=beta[2](t), rho=rho(t), psi=Omega*t},dT_dbeta1flux);
Equation
change q_flux to d/dt(q)
> dT_dbeta1_tt := subs({beta[flux[1]](t)=diff(beta[1](t),t),beta[flux[2]](t)=diff(beta[2](t),t),rho[flux](t)=diff(rho(t),t)},dT_dbeta1_t);
Equation
> dV_dbeta1_tt := subs({beta[flux[1]](t)=diff(beta[1](t),t),beta[flux[2]](t)=diff(beta[2](t),t),rho[flux](t)=diff(rho(t),t)},dV_dbeta1_t);
Equation
> dT_dbeta1flux_tt := subs({beta[flux[1]](t)=diff(beta[1](t),t),beta[flux[2]](t)=diff(beta[2](t),t),rho[flux](t)=diff(rho(t),t)},dT_dbeta1flux_t);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%)), `simplify length` = length(symplify(%));
Equation
> dT_dbeta1flux_tt := convert(dT_dbeta1flux_tt, horner);
Equation
differentiate with respect to t and construct equations of motion for beta 1
> ddt_dT_dbeta1flux := diff(dT_dbeta1flux_tt, t);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%)), `simplify length` = length(symplify(%));
Equation
> ddt_dT_dbeta1flux := convert(ddt_dT_dbeta1flux, horner);
Equation
> eq_beta1[full] := ddt_dT_dbeta1flux - dT_dbeta1_tt + dV_dbeta1_tt = 0;
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%)), `simplify length` = length(symplify(%));
Equation
> eq_beta1[full]:= convert(eq_beta1[full], horner);
Equation
> eq_beta1[full] := solve(eq_beta1[full],diff(beta[1](t),t,t));
Equation
simplify expression and lose time dependencie notation and d/dt
> T1_eq_beta1[full]:= subs({diff(beta[1](t),t,t)=bb_FF_1,diff(beta[2](t),t,t)=bb_FF_2,diff(rho(t),t,t)=aa_FF},eq_beta1[full]);
Equation
> T2_eq_beta1[full]:= subs({diff(beta[1](t),t)=bb_F_1,diff(beta[2](t),t)=bb_F_2, diff(rho(t),t)=aa_F},T1_eq_beta1[full]);
Equation
> T3_eq_beta1[full] := subs({beta[1](t)=bb_1, beta[2](t)=bb_2, rho(t)=aa, Omega=om},T2_eq_beta1[full]);
Equation
> bb_FF_1 := T3_eq_beta1[full];
Equation
Equation
Equation
eq of motion for beta_2
> dT_dbeta2flux := diff(T_total, beta[flux[2]]);
Equation
> dT_dbeta2 := diff(T_total, beta[2]);
Equation
> dV_dbeta2 := diff(V_total, beta[2]);
Equation
indicate time dependencies
indicate time dependencies
> dT_dbeta2_t := subs({beta[flux[1]]=beta[flux[1]](t),beta[flux[2]]=beta[flux[2]](t),rho[flux]=rho[flux](t), psi[flux]=Omega, beta[1]=beta[1](t), beta[2]=beta[2](t), rho=rho(t), psi=Omega*t},dT_dbeta2);
Equation
> dV_dbeta2_t := subs({beta[flux[1]]=beta[flux[1]](t),beta[flux[2]]=beta[flux[2]](t),rho[flux]=rho[flux](t), psi[flux]=Omega, beta[1]=beta[1](t), beta[2]=beta[2](t), rho=rho(t), psi=Omega*t},dV_dbeta2);
Equation
> dT_dbeta2flux_t := subs({beta[flux[1]]=beta[flux[1]](t),beta[flux[2]]=beta[flux[2]](t),rho[flux]=rho[flux](t), psi[flux]=Omega, beta[1]=beta[1](t), beta[2]=beta[2](t), rho=rho(t), psi=Omega*t},dT_dbeta2flux);
Equation
change q_flux to d/dt(q)
> dT_dbeta2_tt := subs({beta[flux[1]](t)=diff(beta[1](t),t),beta[flux[2]](t)=diff(beta[2](t),t),rho[flux](t)=diff(rho(t),t)},dT_dbeta2_t);
Equation
> dV_dbeta2_tt := subs({beta[flux[1]](t)=diff(beta[1](t),t),beta[flux[2]](t)=diff(beta[2](t),t),rho[flux](t)=diff(rho(t),t)},dV_dbeta2_t);
Equation
> dT_dbeta2flux_tt := subs({beta[flux[1]](t)=diff(beta[1](t),t),beta[flux[2]](t)=diff(beta[2](t),t),rho[flux](t)=diff(rho(t),t)},dT_dbeta2flux_t);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%)), `simplify length` = length(symplify(%));
Equation
> dT_dbeta2flux_tt := convert(dT_dbeta2flux_tt, horner);
Equation
differentiate with respect to t and construct equations of motion for beta 2
> ddt_dT_dbeta2flux := diff(dT_dbeta2flux_tt, t);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%)), `simplify length` = length(symplify(%));
Equation
> ddt_dT_dbeta2flux := convert(ddt_dT_dbeta2flux,horner);
Equation
> eq_beta2[full] := ddt_dT_dbeta2flux - dT_dbeta2_tt + dV_dbeta2_tt = 0;
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%)), `simplify length` = length(symplify(%));
Equation
> eq_beta2[full] := convert(eq_beta2[full],horner);
Equation
> eq_beta2[full] := solve(eq_beta2[full],diff(beta[2](t),t,t));
Equation
simplify expression and lose time dependencie notation and d/dt
> T1_eq_beta2[full]:= subs({diff(diff(beta[1](t),t),t)=bb_FF_1,diff(diff(beta[2](t),t),t)=bb_FF_2,diff(diff(rho(t),t),t)=aa_FF},eq_beta2[full]);
Equation
> T2_eq_beta2[full]:= subs({diff(beta[1](t),t)=bb_F_1,diff(beta[2](t),t)=bb_F_2, diff(rho(t),t)=aa_F},T1_eq_beta2[full]);
Equation
> T3_eq_beta2[full] := subs({beta[1](t)=bb_1, beta[2](t)=bb_2, rho(t)=aa, Omega=om},T2_eq_beta2[full]);
Equation
> bb_FF_2 := T3_eq_beta2[full];
Equation
Equation
eq of motion for rho
> dT_drhoflux := diff(T_total, rho[flux]);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%)), `simplify length` = length(symplify(%));
Equation
replace first rho[flux] with rho_f, otherwise maple will display the partial derivative of d/drho (rho[flux]) which is ofcourse zero, but maple doesn't know
> dT_drho := diff(subs(rho[flux]=rho_f,T_total), rho);
Equation
> dV_drho := diff(V_total, rho);
Equation
indicate time dependencies
indicate time dependencies
> dT_drho_t := subs({beta[flux[1]]=beta[flux[1]](t),beta[flux[2]]=beta[flux[2]](t),rho[flux]=rho[flux](t), psi[flux]=Omega, beta[1]=beta[1](t), beta[2]=beta[2](t), rho=rho(t), psi=Omega*t},dT_drho);
Equation
> dV_drho_t := subs({beta[flux[1]]=beta[flux[1]](t),beta[flux[2]]=beta[flux[2]](t),rho[flux]=rho[flux](t), psi[flux]=Omega, beta[1]=beta[1](t), beta[2]=beta[2](t), rho=rho(t), psi=Omega*t},dV_drho);
Equation
> dT_drhoflux_t := subs({beta[flux[1]]=beta[flux[1]](t),beta[flux[2]]=beta[flux[2]](t),rho[flux]=rho[flux](t), psi[flux]=Omega, beta[1]=beta[1](t), beta[2]=beta[2](t), rho=rho(t), psi=Omega*t},dT_drhoflux);
Equation
change q_flux to d/dt(q)
> dT_drho_tt := subs({beta[flux[1]](t)=diff(beta[1](t),t),beta[flux[2]](t)=diff(beta[2](t),t),rho[flux](t)=diff(rho(t),t)},dT_drho_t);
Equation
> dV_drho_tt := subs({beta[flux[1]](t)=diff(beta[1](t),t),beta[flux[2]](t)=diff(beta[2](t),t),rho[flux](t)=diff(rho(t),t)},dV_drho_t);
Equation
> dT_drhoflux_tt := subs({beta[flux[1]](t)=diff(beta[1](t),t),beta[flux[2]](t)=diff(beta[2](t),t),rho[flux](t)=diff(rho(t),t)},dT_drhoflux_t);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%)), `simplify length` = length(symplify(%));
Equation
differentiate with respect to t and construct equations of motion for rho
> ddt_dT_drhoflux := diff(dT_drhoflux_tt, t);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%));
Equation
> eq_rho[full] := ddt_dT_drhoflux - dT_drho_tt + dV_drho_tt = 0;
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%));
Equation
> eq_rho[full] := solve(eq_rho[full],diff(rho(t),t,t));
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%));
Equation
> eq_rho[full] := convert(eq_rho[full], horner);
Equation
simplify expression for matlab en lose time dependencie notation and d/dt
> T1_eq_rho[full]:= subs({diff(diff(beta[1](t),t),t)=bb_FF_1,diff(diff(beta[2](t),t),t)=bb_FF_2,diff(diff(rho(t),t),t)=aa_FF},eq_rho[full]);
Equation
> length(%);
Equation
> T2_eq_rho[full]:= subs({diff(beta[1](t),t)=bb_F_1,diff(beta[2](t),t)=bb_F_2, diff(rho(t),t)=aa_F},T1_eq_rho[full]);
Equation
> T3_eq_rho[full] := subs({beta[1](t)=bb_1, beta[2](t)=bb_2, rho(t)=aa, Omega=om},T2_eq_rho[full]);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%));
Equation
> T3_eq_rho[full] := collect(T3_eq_rho[full], aa_FF);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%));
Equation
Solve again for aa_FF: since bb_FF_1 and bb_FF_2 are now substituted and are also functions aa_FF - CAN NOT SIMPLIFY FURTHER
> T4_eq_rho[full] := solve(T3_eq_rho[full]=aa_FF, aa_FF);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%));
Equation
> T5_eq_rho[full] := convert(T4_eq_rho[full], horner);
Equation
> length(%);
Equation
Equation
Equation
Equation
Linearized equations of motion using the Lagrangian
lin eq of motion for beta_1
> eq_mo_beta1_FF_lin := subs({sin(bb_1)=bb_1, sin(bb_2)=bb_2, cos(bb_1)=1, cos(bb_2)=1, cos(aa)=1,sin(aa)=aa},bb_FF_1);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%)), `simplify length` = length(symplify(%));
Equation
lin eq of motion for beta_2
> eq_mo_beta2_FF_lin := subs({sin(bb_1)=bb_1, sin(bb_2)=bb_2, cos(bb_1)=1, cos(bb_2)=1, cos(aa)=1,sin(aa)=aa},bb_FF_2);
Equation
> `starting length` = length(%), `converting to horner`=length(convert(%,horner)), factoring=length(factor(%));
Equation
lin eq of motion for rho
> eq_mo_rho_FF_lin := subs({sin(bb_1)=bb_1, sin(bb_2)=bb_2, cos(bb_1)=1, cos(bb_2)=1, cos(aa)=1,sin(aa)=aa},T5_eq_rho[full]);
Equation
Matlab code
rho
> Matlab(T5_eq_rho[full], resultname="aa_FF");
aa_FF = 0.4e1 * ((-0.64e2 * ka * aa + 0.64e2 * cos(om * t) * aa_F ^ 2 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) * JB) * JB ^ 2 - 0.128e3 * sin(om * t) ^ 2 * sin(bb_1) * aa_F * cos(bb_1) * bb_F_1 * JB ^ 3 - 0.64e2 * cos(om * t) * aa_F ^ 2 * sin(om * t) ^ 2 * sin(bb_2) * JB ^ 3 * cos(bb_2) - 0.64e2 * cos(om * t) * kb * bb_1 * JB ^ 2 + (0.64e2 * m_b * g_ * sin(aa) + 0.16e2 * m_t * g_ * sin(aa)) * JB ^ 2 * l - 0.128e3 * sin(om * t) ^ 2 * sin(bb_2) * aa_F * cos(bb_2) * bb_F_2 * JB ^ 3 + 0.64e2 * cos(om * t) * kb * bb_2 * JB ^ 2 + (((0.128e3 - 0.64e2 * sin(bb_1) ^ 2) * sin(om * t) - 0.64e2 * cos(bb_1) ^ 2 * sin(om * t)) * cos(om * t) * aa_F * JB ^ 3 + ((-0.64e2 * sin(bb_1) ^ 2 - 0.64e2) * sin(om * t) + 0.64e2 * cos(bb_1) ^ 2 * sin(om * t)) * JB ^ 3 * bb_F_1 - 0.64e2 * cos(om * t) * JB ^ 3 * aa_F * sin(om * t) * sin(bb_2) ^ 2 - 0.64e2 * cos(om * t) * JB ^ 3 * sin(om * t) * aa_F * cos(bb_2) ^ 2 + (0.64e2 * JB ^ 3 * sin(om * t) * sin(bb_2) ^ 2 - 0.64e2 * JB ^ 3 * sin(om * t) * cos(bb_2) ^ 2 + 0.64e2 * JB ^ 3 * sin(om * t)) * bb_F_2) * om + ((-0.32e2 * sin(bb_1) * cos(om * t) ^ 2 * cos(aa) + 0.32e2 * sin(bb_1) * cos(aa)) * g_ * m_b * JB ^ 2 + (0.32e2 * cos(aa) - 0.32e2 * cos(om * t) ^ 2 * cos(aa)) * g_ * m_b * JB ^ 2 * sin(bb_2) + ((0.16e2 * sin(bb_1) * cos(om * t) ^ 2 - 0.16e2 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2) * aa_F ^ 2 * m_b * JB ^ 2 + (-0.32e2 * m_b * sin(bb_1) * aa_F * cos(om * t) * JB ^ 2 + 0.16e2 * m_b * sin(bb_1) * JB ^ 2 * bb_F_1) * bb_F_1 + 0.16e2 * m_b * sin(bb_2) * aa_F ^ 2 * cos(om * t) ^ 2 * JB ^ 2 - 0.16e2 * m_b * aa_F ^ 2 * sin(om * t) ^ 2 * sin(bb_2) * JB ^ 2 * cos(bb_2) ^ 2 + 0.16e2 * m_b * cos(bb_1) * kb * bb_1 * JB) * l + (0.32e2 * m_b * l * sin(bb_2) * aa_F * cos(om * t) * JB ^ 2 + 0.16e2 * m_b * l * sin(bb_2) * JB ^ 2 * bb_F_2) * bb_F_2 + 0.16e2 * m_b * l * cos(bb_2) * kb * bb_2 * JB + ((((-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) + 0.16e2 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) * aa_F * m_b * JB ^ 2 + (0.16e2 * m_b * JB ^ 2 * aa_F * sin(om * t) + 0.16e2 * m_b * JB ^ 2 * aa_F * sin(om * t) * sin(bb_2) ^ 2 - 0.16e2 * m_b * JB ^ 2 * aa_F * sin(om * t) * cos(bb_2) ^ 2) * cos(bb_2)) * l + (0.16e2 * m_b * JB ^ 2 * cos(bb_1) ^ 2 * sin(bb_1) + 0.16e2 * m_b * JB ^ 2 * cos(bb_2) ^ 2 * sin(bb_2)) * l * om) * om + (((-0.16e2 * aa * cos(bb_1) ^ 2 - 0.16e2 * aa * cos(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.16e2 * aa * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * ka * m_b + (((0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 4 + 0.16e2 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + ((-0.16e2 * sin(bb_1) + (0.32e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 2) * cos(bb_1) + 0.16e2 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b * JB) * JB + ((((-0.32e2 - 0.32e2 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 4 - 0.32e2 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + ((0.32e2 * sin(bb_1) + (-0.64e2 - 0.32e2 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 2) * cos(bb_1) - 0.32e2 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b * JB ^ 2 + ((0.16e2 * sin(om * t) ^ 2 * sin(bb_1) - 0.16e2 * sin(bb_1)) * cos(bb_1) + 0.16e2 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) * m_b * JB ^ 2 * bb_F_1) * bb_F_1 + (((-0.16e2 * aa * sin(om * t) ^ 2 - 0.16e2 * aa * cos(om * t) ^ 2) * ka * m_b + (0.16e2 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) + 0.16e2 * sin(om * t) ^ 2 * cos(om * t) ^ 2 * sin(bb_1) * cos(bb_1)) * cos(om * t) * aa_F ^ 2 * m_b * JB) * JB + (-0.32e2 * sin(om * t) ^ 2 * cos(om * t) ^ 2 * sin(bb_1) * cos(bb_1) - 0.32e2 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1)) * aa_F * m_b * JB ^ 2 * bb_F_1) * sin(bb_2) ^ 2 + ((((-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 - 0.16e2 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.16e2 + (-0.32e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 - 0.16e2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b * JB ^ 2 + (-0.16e2 * sin(om * t) ^ 4 - 0.16e2 * sin(om * t) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b * JB ^ 2 * sin(bb_2) ^ 2) * sin(bb_2) + ((-0.16e2 * ka * aa * m_b + 0.16e2 * cos(om * t) * aa_F ^ 2 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) * m_b * JB) * JB - 0.32e2 * sin(om * t) ^ 2 * sin(bb_1) * aa_F * cos(bb_1) * bb_F_1 * m_b * JB ^ 2 - 0.16e2 * m_b * cos(om * t) * aa_F ^ 2 * sin(om * t) ^ 2 * sin(bb_2) * JB ^ 2 * cos(bb_2)) * cos(bb_2)) * cos(bb_2) + ((-0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.16e2 * cos(bb_1) ^ 2 - 0.16e2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b * JB + (-0.16e2 * sin(om * t) ^ 2 - 0.16e2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b * JB * sin(bb_2) ^ 2 - 0.16e2 * m_b * cos(om * t) * kb * cos(bb_2) ^ 2 * JB) * bb_1 + (((0.4e1 * sin(aa) * cos(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(aa) * cos(bb_1) ^ 2 + 0.4e1 * sin(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * g_ * m_t + (0.8e1 * sin(aa) * cos(bb_1) ^ 2 + 0.16e2 * sin(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + (0.8e1 * cos(bb_1) * sin(bb_1) * cos(aa) + 0.16e2 * sin(aa) * sin(bb_1) ^ 2 * cos(om * t)) * cos(om * t)) * g_ * m_b) * m_b * JB + ((0.4e1 * sin(aa) * cos(om * t) ^ 2 + 0.4e1 * sin(aa) * sin(om * t) ^ 2) * g_ * m_t + (0.16e2 * sin(aa) * cos(om * t) ^ 2 + 0.16e2 * sin(aa) * sin(om * t) ^ 2) * g_ * m_b) * m_b * JB * sin(bb_2) ^ 2 + (-0.8e1 * m_b ^ 2 * g_ * sin(bb_2) * cos(om * t) * cos(aa) * JB + (0.4e1 * m_t * g_ * sin(aa) + 0.8e1 * m_b * g_ * sin(aa)) * m_b * JB * cos(bb_2)) * cos(bb_2) + (0.4e1 * m_b ^ 2 * cos(bb_2) * sin(bb_2) * aa_F ^ 2 * cos(om * t) * JB - 0.4e1 * m_b ^ 2 * cos(bb_1) * sin(bb_1) * aa_F ^ 2 * cos(om * t) * JB) * l) * l + (((((-0.32e2 - 0.32e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 - 0.32e2 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.32e2 + (-0.64e2 - 0.32e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 - 0.32e2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b * JB ^ 2 + (-0.32e2 * sin(om * t) ^ 2 * cos(om * t) ^ 2 - 0.32e2 * sin(om * t) ^ 4) * aa_F * m_b * JB ^ 2 * sin(bb_2) ^ 2) * sin(bb_2) - 0.32e2 * sin(om * t) ^ 2 * sin(bb_2) * aa_F * m_b * JB ^ 2 * cos(bb_2) ^ 2) * cos(bb_2) + (-0.16e2 * sin(om * t) ^ 2 + 0.16e2 - 0.16e2 * cos(om * t) ^ 2) * cos(om * t) * m_b * JB ^ 2 * sin(bb_2) * cos(bb_2) * bb_F_2) * bb_F_2 + ((0.16e2 * cos(bb_1) ^ 2 + 0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.16e2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b * JB + (0.16e2 * sin(om * t) ^ 2 + 0.16e2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b * JB * sin(bb_2) ^ 2 + 0.16e2 * m_b * cos(om * t) * kb * cos(bb_2) ^ 2 * JB) * bb_2 + (((0.32e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 3 + ((-0.16e2 * sin(bb_1) ^ 2 + 0.48e2 + (-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.16e2 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 + ((0.32e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) + (-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 + ((-0.48e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 3 + ((-0.32e2 - 0.16e2 * sin(bb_1) ^ 2 + (0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) + 0.16e2 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 + ((-0.48e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) + (0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b * JB ^ 2 * bb_F_1 + (((0.32e2 - 0.32e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.16e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((0.32e2 - 0.32e2 * sin(bb_1) ^ 2) * sin(om * t) - 0.16e2 * cos(bb_1) ^ 2 * sin(om * t)) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 + ((-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + 0.16e2 * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + ((-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) + 0.16e2 * cos(bb_1) ^ 2 * sin(om * t)) * cos(om * t) ^ 2) * m_b * JB ^ 2 * bb_F_1 + (-0.16e2 * sin(om * t) ^ 3 - 0.16e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 * sin(bb_2) ^ 2) * sin(bb_2) ^ 2 + (((-0.16e2 * sin(bb_1) ^ 2 + 0.48e2 + (-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.32e2 * cos(bb_1) ^ 2 * sin(om * t) + (-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 + ((-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) + 0.16e2 * cos(bb_1) ^ 2 * sin(om * t)) * m_b * JB ^ 2 * bb_F_1 + ((-0.16e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) - 0.16e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 * sin(bb_2) ^ 2 - 0.16e2 * cos(om * t) * m_b * sin(om * t) * aa_F * cos(bb_2) ^ 2 * JB ^ 2) * cos(bb_2) ^ 2 + ((0.16e2 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.16e2 * cos(bb_1) ^ 2 * sin(om * t) + 0.16e2 * sin(om * t) ^ 3 * sin(bb_1) ^ 2) * m_b * JB ^ 2 + (((0.16e2 * sin(bb_1) ^ 2 + 0.48e2) * sin(om * t) ^ 3 + 0.16e2 * cos(bb_1) ^ 2 * sin(om * t) + (0.16e2 * sin(bb_1) ^ 2 + 0.48e2) * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 + (0.16e2 * sin(om * t) ^ 3 + 0.16e2 * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 * sin(bb_2) ^ 2) * sin(bb_2) ^ 2 + (((0.32e2 + (-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.16e2 * cos(bb_1) ^ 2 * sin(om * t) + (-0.16e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 + ((-0.16e2 * sin(om * t) ^ 2 + 0.16e2) * sin(om * t) - 0.16e2 * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 * sin(bb_2) ^ 2 - 0.16e2 * JB ^ 2 * sin(om * t) * m_b * cos(bb_2) ^ 2) * cos(bb_2) ^ 2) * bb_F_2) * om + ((0.8e1 * sin(bb_1) ^ 3 * cos(aa) * sin(om * t) ^ 2 + 0.8e1 * sin(bb_1) * cos(aa) * cos(bb_1) ^ 2 + (-0.8e1 * sin(bb_1) * cos(aa) * cos(bb_1) ^ 2 - 0.8e1 * sin(bb_1) ^ 3 * cos(aa) * sin(om * t) ^ 2 + 0.8e1 * sin(bb_1) ^ 3 * cos(aa) - 0.8e1 * sin(bb_1) ^ 3 * cos(aa) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 2 * JB + ((0.8e1 * cos(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.8e1 * cos(aa) * cos(bb_1) ^ 2 + (-0.8e1 * cos(aa) * cos(bb_1) ^ 2 + 0.8e1 * cos(aa) * sin(bb_1) ^ 2 - 0.8e1 * cos(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.8e1 * cos(aa) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 2 * JB + ((0.8e1 * sin(bb_1) * cos(aa) * sin(om * t) ^ 2 + (0.8e1 * sin(bb_1) * cos(aa) - 0.8e1 * sin(bb_1) * cos(aa) * sin(om * t) ^ 2 - 0.8e1 * sin(bb_1) * cos(om * t) ^ 2 * cos(aa)) * cos(om * t) ^ 2) * g_ * m_b ^ 2 * JB + (0.8e1 * cos(aa) * sin(om * t) ^ 2 + (0.8e1 * cos(aa) - 0.8e1 * cos(aa) * sin(om * t) ^ 2 - 0.8e1 * cos(om * t) ^ 2 * cos(aa)) * cos(om * t) ^ 2) * g_ * m_b ^ 2 * JB * sin(bb_2)) * sin(bb_2)) * sin(bb_2) + ((0.8e1 * sin(bb_1) * cos(aa) - 0.8e1 * sin(bb_1) * cos(om * t) ^ 2 * cos(aa)) * g_ * m_b ^ 2 * JB + (0.8e1 * cos(aa) - 0.8e1 * cos(om * t) ^ 2 * cos(aa)) * g_ * m_b ^ 2 * JB * sin(bb_2)) * cos(bb_2) ^ 2 + ((-0.4e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2 + (0.4e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + (-0.8e1 * sin(om * t) ^ 2 * sin(bb_1) + 0.8e1 * sin(bb_1)) * cos(bb_1) ^ 2 + (-0.4e1 * sin(bb_1) * cos(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 3) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 2 * JB + ((-0.8e1 * sin(bb_1) * cos(bb_1) ^ 2 - 0.8e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.8e1 * sin(bb_1) ^ 3 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (0.4e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 + (0.4e1 * sin(bb_1) * cos(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 3) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + ((0.4e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F ^ 2 * m_b ^ 2 * JB + ((-0.4e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2 + (-0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) + 0.4e1 * sin(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 2 * JB + ((-0.8e1 * sin(om * t) ^ 2 * sin(bb_1) - 0.8e1 * sin(bb_1) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) + 0.4e1 * sin(bb_1) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + (0.4e1 * sin(om * t) ^ 2 + 0.4e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F ^ 2 * m_b ^ 2 * JB * sin(bb_2)) * sin(bb_2)) * sin(bb_2) + ((0.4e1 * sin(bb_1) * cos(om * t) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2) * aa_F ^ 2 * m_b ^ 2 * JB + (-0.8e1 * m_b ^ 2 * sin(bb_1) * aa_F * cos(om * t) * JB + 0.4e1 * m_b ^ 2 * sin(bb_1) * JB * bb_F_1) * bb_F_1 + ((-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.8e1 + (-0.8e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 - 0.4e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 2 * JB * sin(bb_2)) * cos(bb_2) ^ 2 + ((0.4e1 * cos(om * t) ^ 2 * cos(bb_1) + 0.4e1 * cos(bb_1) * sin(om * t) ^ 2) * kb * m_b ^ 2 * sin(bb_2) ^ 2 + 0.4e1 * m_b ^ 2 * cos(bb_1) * kb * cos(bb_2) ^ 2) * bb_1) * l + ((((0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.8e1 * cos(bb_1) ^ 2 + 0.8e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (0.8e1 * sin(om * t) ^ 2 + 0.8e1 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * sin(bb_2) ^ 2) * sin(bb_2) + 0.8e1 * m_b ^ 2 * sin(bb_2) * aa_F * cos(om * t) * cos(bb_2) ^ 2 * JB) * l + (((0.4e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * m_b ^ 2 * JB + (0.4e1 * sin(om * t) ^ 2 + 0.4e1 * cos(om * t) ^ 2) * m_b ^ 2 * JB * sin(bb_2) ^ 2) * sin(bb_2) + (0.4e1 * sin(om * t) ^ 2 + 0.4e1 * cos(om * t) ^ 2) * m_b ^ 2 * JB * sin(bb_2) * cos(bb_2) ^ 2) * l * bb_F_2) * bb_F_2 + (0.4e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * kb * m_b ^ 2 * cos(bb_2) * l * bb_2 + ((((-0.8e1 * sin(om * t) ^ 3 * sin(bb_1) ^ 2 + (-0.4e1 + 0.4e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) + (-0.8e1 * sin(om * t) * sin(bb_1) ^ 2 + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + (((-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + 0.4e1 * sin(om * t) ^ 3 * cos(bb_1) ^ 2) * cos(bb_1) + ((-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB * sin(bb_2) ^ 2 + ((0.4e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 3 * sin(bb_1) ^ 2 + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * aa_F * m_b ^ 2 * JB + ((0.8e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) + (0.8e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB * sin(bb_2) ^ 2 + (((-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) * aa_F * m_b ^ 2 * JB + ((0.4e1 + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB * cos(bb_2)) * cos(bb_2)) * cos(bb_2)) * l + ((0.4e1 * sin(bb_1) * cos(om * t) ^ 2 * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2) * m_b ^ 2 * JB + (0.4e1 * sin(bb_1) * cos(om * t) ^ 2 * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2) * m_b ^ 2 * JB * sin(bb_2) ^ 2 + (0.4e1 * m_b ^ 2 * JB * cos(bb_1) ^ 2 * sin(bb_1) + ((0.4e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + 0.4e1 * cos(bb_1) ^ 2 + (0.4e1 + 0.4e1 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * sin(bb_2)) * cos(bb_2) ^ 2) * l * om) * om + (((0.4e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 3 + 0.4e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + (((-0.4e1 * sin(bb_1) ^ 3 + 0.12e2 * sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + (-0.4e1 * sin(bb_1) + 0.8e1 * sin(om * t) ^ 2 * sin(bb_1)) * cos(bb_1) ^ 2) * cos(bb_1) + ((-0.4e1 * sin(bb_1) ^ 3 + 0.12e2 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + 0.4e1 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + 0.4e1 * sin(bb_1) ^ 3 * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + (((-0.8e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 3 - 0.8e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + (((0.8e1 * sin(bb_1) ^ 3 - 0.24e2 * sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + (-0.16e2 * sin(om * t) ^ 2 * sin(bb_1) + 0.8e1 * sin(bb_1)) * cos(bb_1) ^ 2) * cos(bb_1) + ((0.8e1 * sin(bb_1) ^ 3 - 0.24e2 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.8e1 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) - 0.8e1 * sin(bb_1) ^ 3 * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + (((-0.4e1 * sin(bb_1) ^ 3 + 0.4e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) - 0.4e1 * sin(bb_1)) * cos(bb_1) ^ 2) * cos(bb_1) + ((0.8e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.4e1 * sin(bb_1) ^ 3 + 0.4e1 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + 0.4e1 * sin(bb_1) ^ 3 * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + ((-0.4e1 * aa * sin(om * t) ^ 4 * sin(bb_1) ^ 2 - 0.4e1 * aa * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + (-0.8e1 * aa * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.4e1 * aa * cos(bb_1) ^ 2 - 0.4e1 * aa * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * ka * m_b ^ 2 + (((0.4e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 6 + 0.4e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + (((-0.4e1 * sin(bb_1) + (0.12e2 + 0.8e1 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 2) * sin(om * t) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + ((-0.4e1 * sin(bb_1) + (0.12e2 + 0.4e1 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 2) * cos(bb_1) + 0.4e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + ((((-0.8e1 - 0.8e1 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 6 - 0.8e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + (((0.8e1 * sin(bb_1) + (-0.24e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + ((0.8e1 * sin(bb_1) + (-0.24e2 - 0.8e1 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 2) * cos(bb_1) - 0.8e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + ((0.4e1 * sin(om * t) ^ 2 * sin(bb_1) - 0.4e1 * sin(bb_1)) * sin(om * t) ^ 2 * cos(bb_1) + ((-0.4e1 * sin(bb_1) + 0.8e1 * sin(om * t) ^ 2 * sin(bb_1)) * cos(bb_1) + 0.4e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_F_1) * bb_F_1) * sin(bb_2) ^ 2 + (((-0.4e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 + ((0.4e1 * sin(bb_1) ^ 2 - 0.12e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (0.4e1 - 0.8e1 * sin(om * t) ^ 2) * cos(bb_1) ^ 2 + (-0.12e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.4e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 - 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + ((-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 6 - 0.4e1 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 + ((0.4e1 + (-0.12e2 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.4e1 + (-0.4e1 * sin(bb_1) ^ 2 - 0.12e2) * sin(om * t) ^ 2 - 0.4e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB * sin(bb_2) ^ 2) * sin(bb_2) + ((-0.4e1 * aa * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.4e1 * aa * cos(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.4e1 * aa * cos(bb_1) ^ 2) * ka * m_b ^ 2 + (((0.4e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 4 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + ((-0.4e1 * sin(bb_1) + (0.8e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 2) * cos(bb_1) + 0.4e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + ((((-0.8e1 - 0.8e1 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 4 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + ((0.8e1 * sin(bb_1) + (-0.16e2 - 0.8e1 * sin(bb_1) ^ 2) * sin(bb_1) * sin(om * t) ^ 2) * cos(bb_1) - 0.8e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + ((0.4e1 * sin(om * t) ^ 2 * sin(bb_1) - 0.4e1 * sin(bb_1)) * cos(bb_1) + 0.4e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + ((-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.4e1 + (-0.8e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 - 0.4e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB * sin(bb_2) * cos(bb_2)) * cos(bb_2)) * cos(bb_2) + ((-0.4e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (-0.4e1 * cos(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2 * sin(bb_2) ^ 2 + (-0.4e1 * cos(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2 * cos(bb_2) ^ 2) * bb_1 + (((sin(aa) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + sin(aa) * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (0.2e1 * sin(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + sin(aa) * cos(bb_1) ^ 2 + sin(aa) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * g_ * m_t + (0.2e1 * sin(aa) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + 0.4e1 * sin(aa) * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (0.2e1 * cos(bb_1) * sin(bb_1) * cos(aa) * sin(om * t) ^ 2 + (0.2e1 * sin(aa) * cos(bb_1) ^ 2 + 0.8e1 * sin(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + (0.2e1 * cos(bb_1) * sin(bb_1) * cos(aa) + 0.4e1 * sin(aa) * sin(bb_1) ^ 2 * cos(om * t)) * cos(om * t)) * cos(om * t)) * cos(om * t)) * g_ * m_b) * m_b ^ 2 * sin(bb_2) ^ 2 + ((-0.2e1 * cos(aa) * cos(bb_1) ^ 2 - 0.2e1 * cos(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.2e1 * cos(aa) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) * g_ * m_b ^ 3 * sin(bb_2) + ((sin(aa) * cos(bb_1) ^ 2 + sin(aa) * cos(om * t) ^ 2 * sin(bb_1) ^ 2 + sin(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * g_ * m_t + (0.2e1 * sin(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + (0.2e1 * cos(bb_1) * sin(bb_1) * cos(aa) + 0.2e1 * sin(aa) * sin(bb_1) ^ 2 * cos(om * t)) * cos(om * t)) * g_ * m_b) * m_b ^ 2 * cos(bb_2)) * cos(bb_2) + ((-0.1e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) - 0.1e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 * sin(bb_2) ^ 2 + ((sin(om * t) ^ 2 * sin(bb_1) ^ 2 + cos(bb_1) ^ 2 + sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 * sin(bb_2) - 0.1e1 * m_b ^ 3 * cos(bb_1) * sin(bb_1) * aa_F ^ 2 * cos(om * t) * cos(bb_2)) * cos(bb_2)) * l) * l + ((((-0.8e1 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 2 + ((0.8e1 * sin(bb_1) ^ 2 - 0.24e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (-0.16e2 * sin(om * t) ^ 2 + 0.8e1) * cos(bb_1) ^ 2 + (-0.8e1 * cos(bb_1) ^ 2 + 0.8e1 * sin(bb_1) ^ 2 - 0.24e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.8e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + ((-0.8e1 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 6 - 0.8e1 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 + ((0.8e1 + (-0.24e2 - 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.8e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.8e1 + (-0.24e2 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 - 0.8e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB * sin(bb_2) ^ 2) * sin(bb_2) + ((-0.8e1 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 - 0.8e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.8e1 + (-0.16e2 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 - 0.8e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB * sin(bb_2) * cos(bb_2) ^ 2) * cos(bb_2) + ((((0.4e1 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * cos(bb_1) ^ 2 + (-0.4e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB + ((-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) ^ 2 + (0.4e1 - 0.8e1 * sin(om * t) ^ 2 - 0.4e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * sin(bb_2) ^ 2) * sin(bb_2) + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1 - 0.4e1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * sin(bb_2) * cos(bb_2) ^ 2) * cos(bb_2) * bb_F_2) * bb_F_2 + ((0.4e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.4e1 * cos(bb_1) ^ 2 + 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2 * sin(bb_2) ^ 2 + (0.4e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2 * cos(bb_2) ^ 2) * bb_2 + ((((0.4e1 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) ^ 2 + (((0.4e1 * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 - 0.4e1 * sin(om * t) * cos(bb_1) ^ 2 * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (-0.8e1 * sin(om * t) ^ 5 * sin(bb_1) ^ 4 + ((-0.12e2 * sin(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.4e1 + 0.4e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) ^ 2 + (-0.16e2 * sin(om * t) ^ 3 * sin(bb_1) ^ 4 + ((-0.12e2 * sin(bb_1) ^ 2 + 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 + (0.4e1 * sin(om * t) * sin(bb_1) ^ 2 * cos(bb_1) ^ 2 - 0.8e1 * sin(om * t) * sin(bb_1) ^ 4) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1 + (((0.8e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 5 + ((0.12e2 - 0.4e1 * sin(bb_1) ^ 2 + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 3 - 0.4e1 * sin(om * t) ^ 3 * cos(bb_1) ^ 2) * cos(bb_1) ^ 2 + ((0.16e2 - 0.8e1 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 3 + ((0.12e2 - 0.4e1 * sin(bb_1) ^ 2 + (-0.8e1 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 + ((0.8e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((-0.4e1 * sin(bb_1) ^ 2 - 0.12e2) * sin(bb_1) ^ 2 * sin(om * t) ^ 5 + ((-0.8e1 - 0.4e1 * sin(bb_1) ^ 2 + (0.4e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 3 + 0.4e1 * sin(om * t) ^ 3 * cos(bb_1) ^ 2) * cos(bb_1) ^ 2 + ((-0.24e2 - 0.8e1 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 3 + ((-0.8e1 - 0.4e1 * sin(bb_1) ^ 2 + (0.8e1 + 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 + ((-0.4e1 * sin(bb_1) ^ 2 - 0.12e2) * sin(bb_1) ^ 2 * sin(om * t) + (0.4e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1 + (-0.4e1 * sin(om * t) ^ 5 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + (-0.4e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.8e1 * sin(om * t) ^ 3 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * sin(bb_2) ^ 2) * sin(bb_2) ^ 2 + ((((0.12e2 - 0.4e1 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + ((0.16e2 - 0.4e1 * sin(bb_1) ^ 2 + (-0.8e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 + (((0.12e2 - 0.4e1 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) + (-0.8e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((-0.4e1 * sin(bb_1) ^ 2 - 0.12e2) * sin(bb_1) ^ 2 * sin(om * t) ^ 3 + ((-0.8e1 - 0.4e1 * sin(bb_1) ^ 2 + (0.4e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 + ((-0.4e1 * sin(bb_1) ^ 2 - 0.12e2) * sin(bb_1) ^ 2 * sin(om * t) + (0.4e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1 + ((0.4e1 - 0.4e1 * sin(bb_1) ^ 2 + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 3 + (-0.4e1 - 0.4e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((0.4e1 - 0.4e1 * sin(bb_1) ^ 2 + (-0.8e1 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * sin(bb_2) ^ 2 + ((0.4e1 + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * cos(bb_2) ^ 2) * cos(bb_2) ^ 2 + (((0.12e2 * sin(om * t) ^ 5 * sin(bb_1) ^ 2 + 0.12e2 * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + (0.24e2 * sin(om * t) ^ 3 * sin(bb_1) ^ 2 + 0.12e2 * cos(bb_1) ^ 2 * sin(om * t) + 0.12e2 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.8e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 5 + 0.4e1 * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + ((0.8e1 * sin(bb_1) ^ 2 + 0.16e2) * sin(om * t) ^ 3 + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) + (0.8e1 + 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * sin(bb_2) ^ 2) * sin(bb_2) ^ 2 + (((0.8e1 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.8e1 - 0.4e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((0.8e1 * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.12e2 + 0.4e1 * sin(bb_1) ^ 2 + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) * cos(bb_1) ^ 2 + ((0.12e2 + 0.4e1 * sin(bb_1) ^ 2 + (-0.8e1 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * sin(bb_2) ^ 2 + ((0.4e1 + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) + (-0.4e1 - 0.4e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(om * t) ^ 2) * m_b ^ 2 * JB * cos(bb_2) ^ 2) * cos(bb_2) ^ 2) * bb_F_2) * om + (((0.2e1 * sin(bb_1) * cos(aa) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 3 * cos(aa) * sin(om * t) ^ 4 + ((0.4e1 * sin(bb_1) ^ 3 * cos(aa) - 0.2e1 * sin(bb_1) ^ 3 * cos(aa) * sin(om * t) ^ 2) * sin(om * t) ^ 2 + (0.2e1 * sin(bb_1) * cos(aa) - 0.2e1 * sin(bb_1) * cos(aa) * sin(om * t) ^ 2) * cos(bb_1) ^ 2 + (-0.2e1 * sin(bb_1) * cos(aa) * cos(bb_1) ^ 2 - 0.4e1 * sin(bb_1) ^ 3 * cos(aa) * sin(om * t) ^ 2 + 0.2e1 * sin(bb_1) ^ 3 * cos(aa) - 0.2e1 * sin(bb_1) ^ 3 * cos(aa) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 3 + (0.2e1 * cos(aa) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + 0.2e1 * cos(aa) * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + ((0.4e1 * cos(aa) * sin(bb_1) ^ 2 - 0.2e1 * cos(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (0.2e1 * cos(aa) - 0.2e1 * cos(aa) * sin(om * t) ^ 2) * cos(bb_1) ^ 2 + (0.2e1 * cos(aa) * sin(bb_1) ^ 2 - 0.4e1 * cos(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.2e1 * cos(aa) * cos(bb_1) ^ 2 - 0.2e1 * cos(aa) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 3 * sin(bb_2)) * sin(bb_2) ^ 2 + ((0.2e1 * sin(bb_1) * cos(aa) * cos(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 3 * cos(aa) * sin(om * t) ^ 2 + (-0.2e1 * sin(bb_1) ^ 3 * cos(aa) * sin(om * t) ^ 2 + 0.2e1 * sin(bb_1) ^ 3 * cos(aa) - 0.2e1 * sin(bb_1) * cos(aa) * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) ^ 3 * cos(aa) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 3 + (0.2e1 * cos(aa) * cos(bb_1) ^ 2 + 0.2e1 * cos(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + (-0.2e1 * cos(aa) * cos(bb_1) ^ 2 - 0.2e1 * cos(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.2e1 * cos(aa) * sin(bb_1) ^ 2 - 0.2e1 * cos(aa) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 3 * sin(bb_2)) * cos(bb_2) ^ 2 + (((-0.1e1 * sin(om * t) ^ 6 * sin(bb_1) * cos(bb_1) ^ 2 + (sin(om * t) ^ 4 * sin(bb_1) ^ 3 + (0.2e1 * sin(bb_1) - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1)) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + (0.2e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + (0.2e1 * sin(bb_1) - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1)) * cos(bb_1) ^ 2 + (sin(bb_1) ^ 3 - 0.1e1 * sin(bb_1) * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 3 + ((-0.2e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 3 + (-0.4e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.2e1 * sin(bb_1) * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2 + sin(om * t) ^ 4 * sin(bb_1) ^ 3 + (0.2e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + (sin(bb_1) ^ 3 + sin(bb_1) * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1) * bb_F_1 + (cos(bb_1) ^ 2 * sin(om * t) ^ 2 + sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (cos(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F ^ 2 * m_b ^ 3 * sin(bb_2)) * sin(bb_2) ^ 2 + ((-0.1e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2 + (sin(bb_1) ^ 3 * sin(om * t) ^ 2 + (-0.2e1 * sin(om * t) ^ 2 * sin(bb_1) + 0.2e1 * sin(bb_1)) * cos(bb_1) ^ 2 + (sin(bb_1) ^ 3 - 0.1e1 * sin(bb_1) * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 3 + ((-0.2e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.2e1 * sin(bb_1) * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) ^ 3 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (sin(bb_1) ^ 3 * sin(om * t) ^ 2 + sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 + (sin(bb_1) ^ 3 + sin(bb_1) * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1) * bb_F_1 + (-0.1e1 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 2 + ((0.2e1 * sin(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (0.2e1 - 0.2e1 * sin(om * t) ^ 2) * cos(bb_1) ^ 2 + (-0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 2 - 0.1e1 * cos(bb_1) ^ 2 - 0.1e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 3 * sin(bb_2)) * cos(bb_2) ^ 2) * l + (((0.2e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.2e1 * cos(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * sin(bb_2) ^ 3 + (0.2e1 * cos(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * sin(bb_2) * cos(bb_2) ^ 2) * l + ((cos(bb_1) ^ 2 * sin(om * t) ^ 2 + sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (cos(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2) ^ 3 + (cos(bb_1) ^ 2 * sin(om * t) ^ 2 + sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (cos(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2) * cos(bb_2) ^ 2) * l * bb_F_2) * bb_F_2 + ((((-0.2e1 * sin(om * t) ^ 5 * sin(bb_1) ^ 2 + (-0.1e1 + sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) ^ 2) * cos(bb_1) + ((-0.4e1 * sin(om * t) ^ 3 * sin(bb_1) ^ 2 + (-0.1e1 + 0.2e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) + (-0.2e1 * sin(om * t) * sin(bb_1) ^ 2 + cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * sin(bb_2) ^ 2 + ((0.2e1 * sin(om * t) ^ 5 * sin(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + (0.4e1 * sin(om * t) ^ 3 * sin(bb_1) ^ 2 + 0.2e1 * cos(bb_1) ^ 2 * sin(om * t) + 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * sin(bb_2) ^ 2 + (((-0.2e1 * sin(om * t) ^ 3 * sin(bb_1) ^ 2 + (-0.1e1 + sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) + (-0.2e1 * sin(om * t) * sin(bb_1) ^ 2 + cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 + ((sin(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.1e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * cos(bb_2)) * cos(bb_2)) * cos(bb_2)) * l + ((sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2 + (0.2e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 + sin(bb_1) * cos(om * t) ^ 2 * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2) ^ 2 + ((sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 + sin(bb_1) * cos(om * t) ^ 2 * cos(bb_1) ^ 2) * m_b ^ 3 + (cos(bb_1) ^ 2 * sin(om * t) ^ 2 + sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (cos(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2)) * cos(bb_2) ^ 2) * l * om) * om + ((((sin(om * t) ^ 8 * sin(bb_1) ^ 3 + sin(om * t) ^ 6 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + (((-0.1e1 * sin(bb_1) ^ 3 + 0.4e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 4 + (-0.1e1 * sin(bb_1) + 0.3e1 * sin(om * t) ^ 2 * sin(bb_1)) * sin(om * t) ^ 2 * cos(bb_1) ^ 2) * cos(bb_1) + (((-0.2e1 * sin(bb_1) ^ 3 + 0.6e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + (-0.1e1 * sin(bb_1) + 0.3e1 * sin(om * t) ^ 2 * sin(bb_1)) * cos(bb_1) ^ 2) * cos(bb_1) + ((-0.1e1 * sin(bb_1) ^ 3 + 0.4e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + sin(bb_1) ^ 3 * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 + (((-0.2e1 * sin(om * t) ^ 8 * sin(bb_1) ^ 3 - 0.2e1 * sin(om * t) ^ 6 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + (((0.2e1 * sin(bb_1) ^ 3 - 0.8e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 4 + (0.2e1 * sin(bb_1) - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1)) * sin(om * t) ^ 2 * cos(bb_1) ^ 2) * cos(bb_1) + (((0.4e1 * sin(bb_1) ^ 3 - 0.12e2 * sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + (0.2e1 * sin(bb_1) - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1)) * cos(bb_1) ^ 2) * cos(bb_1) + ((0.2e1 * sin(bb_1) ^ 3 - 0.8e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.2e1 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) - 0.2e1 * sin(bb_1) ^ 3 * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 + (((-0.1e1 * sin(bb_1) ^ 3 + sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 4 + (-0.1e1 * sin(bb_1) + sin(om * t) ^ 2 * sin(bb_1)) * sin(om * t) ^ 2 * cos(bb_1) ^ 2) * cos(bb_1) + (((-0.2e1 * sin(bb_1) ^ 3 + 0.3e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + (-0.1e1 * sin(bb_1) + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1)) * cos(bb_1) ^ 2) * cos(bb_1) + ((0.3e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.1e1 * sin(bb_1) ^ 3 + sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + sin(bb_1) ^ 3 * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_F_1) * bb_F_1) * sin(bb_2) ^ 2 + ((-0.1e1 * sin(om * t) ^ 6 * cos(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 8 * sin(bb_1) ^ 2 + ((sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 + (0.1e1 - 0.3e1 * sin(om * t) ^ 2) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + ((0.2e1 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (-0.3e1 * sin(om * t) ^ 2 + 0.1e1) * cos(bb_1) ^ 2 + (-0.1e1 * cos(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + sin(bb_1) ^ 2 - 0.1e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 * sin(bb_2) ^ 3 + (((sin(om * t) ^ 6 * sin(bb_1) ^ 3 + sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + (((0.3e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.1e1 * sin(bb_1) ^ 3) * sin(om * t) ^ 2 + (-0.1e1 * sin(bb_1) + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1)) * cos(bb_1) ^ 2) * cos(bb_1) + ((0.3e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.1e1 * sin(bb_1) ^ 3 + sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + sin(bb_1) ^ 3 * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 + (((-0.2e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 3 - 0.2e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + (((0.2e1 * sin(bb_1) ^ 3 - 0.6e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + (0.2e1 * sin(bb_1) - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1)) * cos(bb_1) ^ 2) * cos(bb_1) + ((0.2e1 * sin(bb_1) ^ 3 - 0.6e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.2e1 * sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) - 0.2e1 * sin(bb_1) ^ 3 * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 + (((-0.1e1 * sin(bb_1) ^ 3 + sin(bb_1) ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + (-0.1e1 * sin(bb_1) + sin(om * t) ^ 2 * sin(bb_1)) * cos(bb_1) ^ 2) * cos(bb_1) + ((-0.1e1 * sin(bb_1) ^ 3 + 0.2e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + sin(bb_1) * cos(bb_1) ^ 2) * cos(bb_1) + sin(bb_1) ^ 3 * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_F_1) * bb_F_1 + (-0.1e1 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 2 + ((sin(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (0.1e1 - 0.2e1 * sin(om * t) ^ 2) * cos(bb_1) ^ 2 + (sin(bb_1) ^ 2 - 0.1e1 * cos(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.1e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 * sin(bb_2) * cos(bb_2)) * cos(bb_2)) * cos(bb_2) + (((-0.2e1 * sin(om * t) ^ 8 * sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 6 * cos(bb_1) ^ 2 + ((0.2e1 * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 + (0.2e1 - 0.6e1 * sin(om * t) ^ 2) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + ((0.4e1 * sin(bb_1) ^ 2 - 0.12e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (0.2e1 - 0.6e1 * sin(om * t) ^ 2) * cos(bb_1) ^ 2 + (0.2e1 * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.2e1 * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * sin(bb_2) ^ 3 + (-0.2e1 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 2 + ((0.2e1 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (-0.4e1 * sin(om * t) ^ 2 + 0.2e1) * cos(bb_1) ^ 2 + (0.2e1 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.2e1 * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * sin(bb_2) * cos(bb_2) ^ 2) * cos(bb_2) + (((sin(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + ((0.2e1 * sin(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (0.1e1 - 0.2e1 * sin(om * t) ^ 2) * cos(bb_1) ^ 2 + (sin(bb_1) ^ 2 - 0.1e1 * cos(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.1e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * sin(bb_2) ^ 3 + ((sin(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (-0.1e1 * sin(om * t) ^ 2 + 0.1e1) * cos(bb_1) ^ 2 + (-0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.1e1 * cos(bb_1) ^ 2 + sin(bb_1) ^ 2 - 0.1e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * sin(bb_2) * cos(bb_2) ^ 2) * cos(bb_2) * bb_F_2) * bb_F_2 + (((((sin(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 5 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) ^ 2) * cos(bb_1) ^ 2 + (((0.2e1 * sin(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) ^ 2 + (((sin(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.1e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 - 0.1e1 * sin(om * t) * cos(bb_1) ^ 2 * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (-0.2e1 * sin(om * t) ^ 7 * sin(bb_1) ^ 4 + ((-0.3e1 * sin(bb_1) ^ 2 + sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 5 + (-0.1e1 + sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) ^ 2) * cos(bb_1) ^ 2 + (-0.6e1 * sin(om * t) ^ 5 * sin(bb_1) ^ 4 + ((-0.6e1 * sin(bb_1) ^ 2 + 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.1e1 + 0.2e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) ^ 2 + (-0.6e1 * sin(om * t) ^ 3 * sin(bb_1) ^ 4 + ((-0.3e1 * sin(bb_1) ^ 2 + 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) + cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 + (-0.2e1 * sin(om * t) * sin(bb_1) ^ 4 + sin(om * t) * sin(bb_1) ^ 2 * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1) * sin(bb_2) ^ 2 + ((((sin(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) ^ 2 + (((sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.1e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 - 0.1e1 * sin(om * t) * cos(bb_1) ^ 2 * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (-0.2e1 * sin(om * t) ^ 5 * sin(bb_1) ^ 4 + ((-0.3e1 * sin(bb_1) ^ 2 + sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.1e1 + sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) ^ 2 + (-0.4e1 * sin(om * t) ^ 3 * sin(bb_1) ^ 4 + ((-0.3e1 * sin(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) + cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) ^ 2 + (-0.2e1 * sin(om * t) * sin(bb_1) ^ 4 + sin(om * t) * sin(bb_1) ^ 2 * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1 + ((sin(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 5 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + ((0.2e1 * sin(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((sin(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.1e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * sin(bb_2) ^ 2 + ((sin(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.1e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * cos(bb_2) ^ 2) * cos(bb_2) ^ 2 + ((0.2e1 * sin(om * t) ^ 5 * cos(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 7 * sin(bb_1) ^ 2 + (0.4e1 * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + 0.6e1 * sin(om * t) ^ 5 * sin(bb_1) ^ 2 + (0.2e1 * cos(bb_1) ^ 2 * sin(om * t) + 0.6e1 * sin(om * t) ^ 3 * sin(bb_1) ^ 2 + 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2) ^ 4 + (((0.3e1 * sin(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 5 + (0.3e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + ((0.6e1 * sin(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.3e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((0.3e1 * sin(bb_1) ^ 2 - 0.3e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.1e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2) ^ 2 + ((sin(bb_1) ^ 2 - 0.1e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.1e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * cos(bb_2) ^ 2) * cos(bb_2) ^ 2) * bb_F_2) * om) * R) * R) * R) * R) * R) * R + (((0.32e2 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 - 0.32e2 * sin(bb_1) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b * JB ^ 2 + (0.64e2 * m_b * sin(bb_1) * aa_F * cos(om * t) ^ 2 * JB ^ 2 - 0.32e2 * m_b * cos(om * t) * sin(bb_1) * JB ^ 2 * bb_F_1) * bb_F_1 + 0.32e2 * m_b * sin(bb_2) * aa_F ^ 2 * cos(om * t) ^ 3 * JB ^ 2 - 0.32e2 * m_b * cos(om * t) * aa_F ^ 2 * sin(om * t) ^ 2 * sin(bb_2) * JB ^ 2 * cos(bb_2) ^ 2 - 0.32e2 * m_b * cos(om * t) * cos(bb_1) * kb * bb_1 * JB + (0.64e2 * m_b * sin(bb_2) * aa_F * cos(om * t) ^ 2 * JB ^ 2 + 0.32e2 * cos(om * t) * m_b * sin(bb_2) * JB ^ 2 * bb_F_2) * bb_F_2 + 0.32e2 * m_b * cos(om * t) * cos(bb_2) * kb * bb_2 * JB + ((((0.64e2 + 0.32e2 * sin(bb_1) ^ 2 - 0.32e2 * sin(om * t) ^ 2) * sin(om * t) - 0.32e2 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) - 0.32e2 * cos(bb_1) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 + ((-0.32e2 + 0.32e2 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) + 0.32e2 * cos(bb_1) * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 * bb_F_1 + (((0.64e2 - 0.32e2 * sin(om * t) ^ 2) * sin(om * t) - 0.32e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 + 0.32e2 * JB ^ 2 * sin(om * t) * aa_F * cos(om * t) * sin(bb_2) ^ 2 * m_b - 0.32e2 * cos(om * t) * m_b * sin(om * t) * aa_F * cos(bb_2) ^ 2 * JB ^ 2) * cos(bb_2) + ((0.32e2 - 0.32e2 * sin(om * t) ^ 2) * sin(om * t) - 0.32e2 * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 * cos(bb_2) * bb_F_2 + (-0.32e2 * m_b * cos(om * t) * JB ^ 2 * cos(bb_1) ^ 2 * sin(bb_1) + 0.32e2 * m_b * cos(om * t) * JB ^ 2 * cos(bb_2) ^ 2 * sin(bb_2)) * om) * om + ((0.16e2 * sin(aa) * cos(bb_1) ^ 2 - 0.16e2 * cos(bb_1) * sin(bb_1) * cos(om * t) * cos(aa)) * cos(om * t) * g_ * m_b ^ 2 * JB + (-0.16e2 * m_b ^ 2 * g_ * sin(bb_2) * cos(om * t) ^ 2 * cos(aa) * JB - 0.16e2 * m_b ^ 2 * cos(om * t) * g_ * sin(aa) * JB * cos(bb_2)) * cos(bb_2) + (0.16e2 * m_b ^ 2 * cos(bb_1) * sin(bb_1) * cos(om * t) ^ 2 * aa_F ^ 2 * JB + 0.16e2 * m_b ^ 2 * cos(bb_2) * sin(bb_2) * cos(om * t) ^ 2 * aa_F ^ 2 * JB) * l + ((((0.8e1 + 0.8e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + 0.8e1 * sin(om * t) * cos(bb_1) ^ 2 * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + ((-0.8e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB * cos(bb_2) ^ 2) * l + ((0.8e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2 + 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1)) * m_b ^ 2 * JB + (0.8e1 * sin(om * t) ^ 2 + 0.8e1 * cos(om * t) ^ 2) * m_b ^ 2 * JB * sin(bb_2) * cos(bb_2)) * l * om) * om + ((0.8e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2 + (-0.8e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + (0.16e2 * sin(om * t) ^ 2 * sin(bb_1) - 0.16e2 * sin(bb_1)) * cos(bb_1) ^ 2 + (0.8e1 * sin(bb_1) * cos(bb_1) ^ 2 - 0.8e1 * sin(bb_1) ^ 3) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + ((0.16e2 * sin(bb_1) * cos(bb_1) ^ 2 + 0.16e2 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + 0.16e2 * sin(bb_1) ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 2 * JB + (-0.8e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 + (-0.8e1 * sin(bb_1) * cos(bb_1) ^ 2 - 0.8e1 * sin(bb_1) ^ 3) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + ((0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.8e1 * cos(bb_1) ^ 2 + 0.8e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 3 * aa_F ^ 2 * m_b ^ 2 * JB + ((0.8e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2 + (-0.8e1 * sin(om * t) ^ 2 * sin(bb_1) + 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 - 0.8e1 * sin(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + ((0.16e2 * sin(om * t) ^ 2 * sin(bb_1) + 0.16e2 * sin(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 2 * JB + (-0.8e1 * sin(om * t) ^ 2 * sin(bb_1) - 0.8e1 * sin(bb_1) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + (0.8e1 * sin(om * t) ^ 2 + 0.8e1 * cos(om * t) ^ 2) * cos(om * t) ^ 3 * aa_F ^ 2 * m_b ^ 2 * JB * sin(bb_2)) * sin(bb_2)) * sin(bb_2) + ((0.8e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 - 0.8e1 * sin(bb_1) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + (0.16e2 * m_b ^ 2 * sin(bb_1) * aa_F * cos(om * t) ^ 2 * JB - 0.8e1 * m_b ^ 2 * cos(om * t) * sin(bb_1) * JB * bb_F_1) * bb_F_1 + ((-0.8e1 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 - 0.8e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.16e2 + (-0.16e2 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 - 0.8e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB * sin(bb_2)) * cos(bb_2) ^ 2 + ((-0.8e1 * cos(bb_1) * sin(om * t) ^ 2 - 0.8e1 * cos(om * t) ^ 2 * cos(bb_1)) * cos(om * t) * kb * m_b ^ 2 * sin(bb_2) ^ 2 - 0.8e1 * m_b ^ 2 * cos(om * t) * cos(bb_1) * kb * cos(bb_2) ^ 2) * bb_1 + (((0.16e2 * cos(bb_1) ^ 2 + 0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.16e2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 2 * JB + (0.16e2 * sin(om * t) ^ 2 + 0.16e2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 2 * JB * sin(bb_2) ^ 2) * sin(bb_2) + 0.16e2 * m_b ^ 2 * sin(bb_2) * aa_F * cos(om * t) ^ 2 * cos(bb_2) ^ 2 * JB + (((0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.8e1 * cos(bb_1) ^ 2 + 0.8e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB + (0.8e1 * sin(om * t) ^ 2 + 0.8e1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * sin(bb_2) ^ 2) * sin(bb_2) + (0.8e1 * sin(om * t) ^ 2 + 0.8e1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * sin(bb_2) * cos(bb_2) ^ 2) * bb_F_2) * bb_F_2 + (0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.8e1 * cos(bb_1) ^ 2 + 0.8e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2 * cos(bb_2) * bb_2 + ((((0.24e2 * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.16e2 * sin(om * t) ^ 2 + 0.16e2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) + (((0.24e2 * sin(bb_1) ^ 2 - 0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.16e2 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) - 0.8e1 * sin(om * t) * cos(bb_1) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (((-0.8e1 * sin(bb_1) ^ 2 + 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.8e1 + 0.8e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) + (((-0.8e1 * sin(bb_1) ^ 2 + 0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) + 0.8e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) + 0.8e1 * sin(om * t) * cos(bb_1) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1 + ((((0.8e1 * sin(bb_1) ^ 2 + 0.16e2 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 - 0.8e1 * sin(om * t) ^ 3 * cos(bb_1) ^ 2) * cos(bb_1) + (((0.8e1 * sin(bb_1) ^ 2 + 0.16e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) - 0.8e1 * cos(bb_1) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((-0.8e1 + 0.8e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) + ((-0.8e1 + 0.16e2 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) + 0.8e1 * cos(bb_1) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1) * sin(bb_2) ^ 2 + (((0.16e2 * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.16e2 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((0.16e2 * sin(bb_1) ^ 2 - 0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.8e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((0.8e1 * sin(bb_1) ^ 2 + 0.24e2 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + 0.8e1 * cos(bb_1) ^ 2 * sin(om * t) + ((0.8e1 * sin(bb_1) ^ 2 + 0.24e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * sin(bb_2) ^ 2 + ((((0.8e1 * sin(bb_1) ^ 2 + 0.16e2 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) - 0.8e1 * cos(bb_1) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((-0.8e1 + 0.8e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) + 0.8e1 * cos(bb_1) * sin(om * t) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1 + ((0.16e2 + (-0.16e2 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * cos(bb_1) ^ 2 * sin(om * t) + (-0.16e2 - 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * cos(bb_2)) * cos(bb_2)) * cos(bb_2) + (((0.8e1 * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.8e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((0.8e1 * sin(bb_1) ^ 2 - 0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.8e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.8e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + ((-0.16e2 * sin(om * t) ^ 2 + 0.8e1) * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * sin(bb_2) ^ 2 + ((0.8e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * m_b ^ 2 * JB * cos(bb_2) ^ 2) * cos(bb_2) * bb_F_2 + ((-0.8e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 - 0.8e1 * sin(bb_1) * cos(om * t) ^ 2 * cos(bb_1) ^ 2) * cos(om * t) * m_b ^ 2 * JB + (-0.8e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 - 0.8e1 * sin(bb_1) * cos(om * t) ^ 2 * cos(bb_1) ^ 2) * cos(om * t) * m_b ^ 2 * JB * sin(bb_2) ^ 2 + (-0.8e1 * m_b ^ 2 * cos(om * t) * JB * cos(bb_1) ^ 2 * sin(bb_1) + ((0.8e1 + 0.8e1 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + 0.8e1 * cos(bb_1) ^ 2 + (0.8e1 + 0.8e1 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * sin(bb_2)) * cos(bb_2) ^ 2) * om) * om + ((0.4e1 * sin(aa) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + (-0.4e1 * cos(bb_1) * sin(bb_1) * cos(aa) * sin(om * t) ^ 2 + (0.4e1 * sin(aa) * cos(bb_1) ^ 2 - 0.4e1 * cos(bb_1) * sin(bb_1) * cos(om * t) * cos(aa)) * cos(om * t)) * cos(om * t)) * cos(om * t) * g_ * m_b ^ 3 * sin(bb_2) ^ 2 + ((-0.4e1 * cos(aa) * cos(bb_1) ^ 2 - 0.4e1 * cos(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.4e1 * cos(aa) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2 * g_ * m_b ^ 3 * sin(bb_2) + (-0.4e1 * sin(aa) * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + (-0.4e1 * cos(bb_1) * sin(bb_1) * cos(aa) - 0.4e1 * sin(aa) * sin(bb_1) ^ 2 * cos(om * t)) * cos(om * t)) * cos(om * t) * g_ * m_b ^ 3 * cos(bb_2)) * cos(bb_2) + ((0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) + 0.4e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F ^ 2 * m_b ^ 3 * sin(bb_2) ^ 2 + ((0.4e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F ^ 2 * m_b ^ 3 * sin(bb_2) + 0.4e1 * m_b ^ 3 * cos(bb_1) * sin(bb_1) * cos(om * t) ^ 2 * aa_F ^ 2 * cos(bb_2)) * cos(bb_2)) * l + ((((0.2e1 + 0.2e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + ((0.2e1 + 0.4e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + 0.2e1 * sin(om * t) * cos(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * sin(bb_2) ^ 2 + ((-0.2e1 * sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + ((-0.2e1 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * cos(bb_2) ^ 2) * l + ((0.2e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) + 0.2e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2) ^ 2 + ((0.2e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.2e1 * cos(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2) + (0.2e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1)) * m_b ^ 3 * cos(bb_2)) * cos(bb_2)) * l * om) * om + (((0.2e1 * sin(om * t) ^ 6 * sin(bb_1) * cos(bb_1) ^ 2 + (-0.2e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 3 + (-0.4e1 * sin(bb_1) + 0.6e1 * sin(om * t) ^ 2 * sin(bb_1)) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + (-0.4e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + (-0.4e1 * sin(bb_1) + 0.6e1 * sin(om * t) ^ 2 * sin(bb_1)) * cos(bb_1) ^ 2 + (0.2e1 * sin(bb_1) * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) ^ 3) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 + ((0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 3 + (0.4e1 * sin(bb_1) * cos(bb_1) ^ 2 + 0.8e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + 0.4e1 * sin(bb_1) ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 3 + (-0.2e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 3 - 0.2e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2 + (-0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 - 0.4e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + (-0.2e1 * sin(bb_1) * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) ^ 3) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_F_1) * bb_F_1 + (0.2e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.2e1 * cos(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 3 * aa_F ^ 2 * m_b ^ 3 * sin(bb_2)) * sin(bb_2) ^ 2 + ((0.2e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2 + (-0.2e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) - 0.4e1 * sin(bb_1)) * cos(bb_1) ^ 2 + (0.2e1 * sin(bb_1) * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) ^ 3) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 + ((0.4e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 + 0.4e1 * sin(bb_1) * cos(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 3 + (-0.2e1 * sin(bb_1) ^ 3 * sin(om * t) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 + (-0.2e1 * sin(bb_1) * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) ^ 3) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_F_1) * bb_F_1 + (-0.2e1 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 2 + ((0.4e1 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * cos(bb_1) ^ 2 + (-0.2e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.2e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 * sin(bb_2)) * cos(bb_2) ^ 2 + ((0.4e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.4e1 * cos(bb_1) ^ 2 + 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 3 * sin(bb_2) ^ 3 + (0.4e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 3 * sin(bb_2) * cos(bb_2) ^ 2 + ((0.2e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.2e1 * cos(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * sin(bb_2) ^ 3 + (0.2e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.2e1 * cos(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * sin(bb_2) * cos(bb_2) ^ 2) * bb_F_2) * bb_F_2 + (((((0.6e1 * sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 5 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) ^ 3 * cos(bb_1) ^ 2) * cos(bb_1) + (((0.12e2 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.4e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) + (((0.6e1 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) - 0.2e1 * sin(om * t) * cos(bb_1) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (((-0.2e1 * sin(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 5 + (-0.2e1 + 0.2e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) ^ 2) * cos(bb_1) + (((-0.4e1 * sin(bb_1) ^ 2 + 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.2e1 + 0.4e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) + (((-0.2e1 * sin(bb_1) ^ 2 + 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) + 0.2e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) + 0.2e1 * sin(om * t) * cos(bb_1) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1) * sin(bb_2) ^ 2 + (((0.6e1 * sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 5 + (0.6e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + ((0.12e2 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.6e1 - 0.4e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((0.6e1 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.2e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * sin(bb_2) ^ 2 + ((((0.6e1 * sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) + (((0.6e1 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) - 0.2e1 * sin(om * t) * cos(bb_1) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (((-0.2e1 * sin(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.2e1 + 0.2e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2) * cos(bb_1) + (((-0.2e1 * sin(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) + 0.2e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(bb_1) + 0.2e1 * sin(om * t) * cos(bb_1) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1 + ((0.4e1 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) * cos(bb_1) ^ 2 + ((0.4e1 * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * cos(bb_2)) * cos(bb_2)) * cos(bb_2) + (((0.2e1 * sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 5 + (0.2e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + ((0.4e1 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 2 + 0.2e1) * sin(om * t) * cos(bb_1) ^ 2 + ((0.2e1 * sin(bb_1) ^ 2 - 0.6e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.2e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2) ^ 2 + ((0.2e1 * sin(bb_1) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.2e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((0.2e1 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.2e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * cos(bb_2) ^ 2) * cos(bb_2) * bb_F_2 + ((-0.2e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) ^ 2 + (-0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) * cos(om * t) ^ 2 * cos(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * sin(bb_2) ^ 2 + ((-0.2e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) ^ 2 - 0.2e1 * sin(bb_1) * cos(om * t) ^ 2 * cos(bb_1) ^ 2) * cos(om * t) * m_b ^ 3 + (0.2e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.2e1 * cos(bb_1) ^ 2 + 0.2e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * sin(bb_2)) * cos(bb_2) ^ 2) * om) * om) * R) * R) * R) * R) * R + (0.256e3 * m_b * sin(om * t) * om * aa_F * cos(om * t) * JB ^ 2 + (-0.16e2 * JB * m_b ^ 2 * sin(bb_1) * aa_F ^ 2 * cos(om * t) ^ 3 * cos(bb_1) + 0.16e2 * m_b ^ 2 * cos(bb_2) * sin(bb_2) * cos(om * t) ^ 3 * aa_F ^ 2 * JB + ((0.64e2 * sin(om * t) ^ 3 * sin(bb_1) ^ 2 + (0.48e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + (0.64e2 * sin(om * t) * sin(bb_1) ^ 2 - 0.16e2 * cos(bb_1) ^ 2 * sin(om * t)) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (0.64e2 * sin(om * t) ^ 3 + 0.64e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * sin(bb_2) ^ 2 + ((0.48e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) - 0.16e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * cos(bb_2) ^ 2 + ((-0.16e2 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) - 0.16e2 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB + (0.16e2 * sin(om * t) ^ 2 + 0.16e2 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * sin(bb_2) * cos(bb_2)) * om) * om + ((-0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) - 0.4e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 3 * aa_F ^ 2 * m_b ^ 3 * sin(bb_2) ^ 2 + ((0.4e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 3 * aa_F ^ 2 * m_b ^ 3 * sin(bb_2) - 0.4e1 * m_b ^ 3 * cos(bb_1) * sin(bb_1) * aa_F ^ 2 * cos(om * t) ^ 3 * cos(bb_2)) * cos(bb_2) + ((0.16e2 * sin(om * t) ^ 5 * sin(bb_1) ^ 2 + (0.12e2 - 0.4e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 * cos(bb_1) ^ 2 + (0.32e2 * sin(om * t) ^ 3 * sin(bb_1) ^ 2 + (0.12e2 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + (0.16e2 * sin(om * t) * sin(bb_1) ^ 2 - 0.4e1 * cos(bb_1) ^ 2 * sin(om * t)) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * sin(bb_2) ^ 2 + ((0.12e2 * sin(bb_1) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) ^ 3 + (0.8e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) * cos(bb_1) ^ 2 + ((0.12e2 * sin(bb_1) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * sin(om * t) - 0.8e1 * cos(bb_1) ^ 2 * sin(om * t) - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * sin(bb_1) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * cos(bb_2) ^ 2 + ((-0.4e1 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) + (-0.8e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) - 0.4e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * sin(bb_2) ^ 2 + ((0.4e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.4e1 * cos(bb_1) ^ 2 + 0.8e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * sin(bb_2) + (-0.4e1 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) - 0.4e1 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * cos(bb_2)) * cos(bb_2)) * om) * om) * R ^ 2) * R ^ 2) * e) * e) / ((0.256e3 * JT + 0.256e3 * JB * sin(bb_1) ^ 2 * sin(om * t) ^ 2) * JB ^ 2 + 0.256e3 * JB ^ 3 * sin(om * t) ^ 2 * sin(bb_2) ^ 2 + (0.128e3 * m_b + 0.16e2 * m_t) * JB ^ 2 * l ^ 2 + (((0.64e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.64e2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2 + 0.64e2 * cos(bb_1) ^ 2) * JT * m_b + ((0.64e2 + 0.64e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 4 + 0.64e2 * cos(bb_1) ^ 2 * sin(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.64e2 + 0.64e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 2 * cos(om * t) ^ 2) * m_b * JB) * JB + (((0.64e2 * sin(om * t) ^ 2 + 0.64e2 * cos(om * t) ^ 2) * JT * m_b + ((0.64e2 + 0.128e3 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 + 0.64e2 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.64e2 + 0.128e3 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 * cos(om * t) ^ 2) * m_b * JB) * JB + (0.64e2 * sin(om * t) ^ 4 + 0.64e2 * sin(om * t) ^ 2 * cos(om * t) ^ 2) * m_b * JB ^ 2 * sin(bb_2) ^ 2) * sin(bb_2) ^ 2 + ((0.64e2 * m_b * JT + 0.64e2 * m_b * sin(bb_1) ^ 2 * sin(om * t) ^ 2 * JB) * JB + 0.64e2 * m_b * JB ^ 2 * sin(om * t) ^ 2 * sin(bb_2) ^ 2) * cos(bb_2) ^ 2 + (((0.4e1 * cos(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * m_t + (0.16e2 * cos(bb_1) ^ 2 + 0.32e2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2 + 0.32e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2) * m_b) * m_b * JB + ((0.4e1 * sin(om * t) ^ 2 + 0.4e1 * cos(om * t) ^ 2) * m_t + (0.32e2 * cos(om * t) ^ 2 + 0.32e2 * sin(om * t) ^ 2) * m_b) * m_b * JB * sin(bb_2) ^ 2 + (0.4e1 * m_t + 0.16e2 * m_b) * m_b * JB * cos(bb_2) ^ 2) * l ^ 2 + ((0.16e2 * sin(om * t) ^ 6 * sin(bb_1) ^ 4 + 0.16e2 * cos(bb_1) ^ 2 * sin(bb_1) ^ 2 * sin(om * t) ^ 4 + (0.16e2 * cos(bb_1) ^ 2 * sin(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.32e2 * sin(om * t) ^ 4 * sin(bb_1) ^ 4 + 0.16e2 * cos(om * t) ^ 2 * sin(bb_1) ^ 4 * sin(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.16e2 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.16e2 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (0.16e2 * cos(bb_1) ^ 2 + 0.32e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.16e2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * JT * m_b ^ 2 + ((0.32e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 6 + (0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 * cos(bb_1) ^ 2 + ((0.64e2 + 0.32e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 4 + (0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 * cos(bb_1) ^ 2 + (0.32e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 6 + 0.16e2 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 + ((0.32e2 + 0.32e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 + 0.16e2 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * sin(bb_2) ^ 2) * sin(bb_2) ^ 2 + ((0.16e2 * cos(bb_1) ^ 2 + 0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.16e2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * JT * m_b ^ 2 + ((0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 4 + 0.16e2 * cos(bb_1) ^ 2 * sin(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(bb_1) ^ 2 * sin(om * t) ^ 2 * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 4 + 0.16e2 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.16e2 + 0.16e2 * sin(bb_1) ^ 2) * sin(om * t) ^ 2 * cos(om * t) ^ 2) * m_b ^ 2 * JB * sin(bb_2) ^ 2) * cos(bb_2) ^ 2 + (((cos(bb_1) ^ 2 * sin(om * t) ^ 2 + sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (cos(bb_1) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_t + (0.8e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + (0.4e1 * cos(bb_1) ^ 2 + 0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.8e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b) * m_b ^ 2 * sin(bb_2) ^ 2 + ((sin(om * t) ^ 2 * sin(bb_1) ^ 2 + cos(bb_1) ^ 2 + sin(bb_1) ^ 2 * cos(om * t) ^ 2) * m_t + (0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * m_b) * m_b ^ 2 * cos(bb_2) ^ 2) * l ^ 2 + (((0.4e1 * sin(om * t) ^ 6 * cos(bb_1) ^ 2 * sin(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 8 * sin(bb_1) ^ 4 + (0.8e1 * cos(bb_1) ^ 2 * sin(bb_1) ^ 2 * sin(om * t) ^ 4 + 0.12e2 * sin(om * t) ^ 6 * sin(bb_1) ^ 4 + (0.4e1 * cos(bb_1) ^ 2 * sin(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.12e2 * sin(om * t) ^ 4 * sin(bb_1) ^ 4 + 0.4e1 * cos(om * t) ^ 2 * sin(bb_1) ^ 4 * sin(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 + (0.4e1 * sin(om * t) ^ 8 * sin(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 6 * cos(bb_1) ^ 2 + (0.8e1 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 + 0.12e2 * sin(om * t) ^ 6 * sin(bb_1) ^ 2 + (0.4e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.12e2 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2) ^ 2) * sin(bb_2) ^ 2 + ((0.4e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 4 + 0.4e1 * cos(bb_1) ^ 2 * sin(bb_1) ^ 2 * sin(om * t) ^ 4 + (0.4e1 * cos(bb_1) ^ 2 * sin(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.8e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 4 + 0.4e1 * cos(om * t) ^ 2 * sin(bb_1) ^ 4 * sin(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 + (0.4e1 * sin(om * t) ^ 6 * sin(bb_1) ^ 2 + 0.4e1 * sin(om * t) ^ 4 * cos(bb_1) ^ 2 + (0.8e1 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + 0.4e1 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * sin(bb_2) ^ 2) * cos(bb_2) ^ 2) * R ^ 2) * R ^ 2) * R ^ 2 + (((-0.64e2 * m_b ^ 2 * cos(om * t) * cos(bb_2) ^ 2 * JB + 0.64e2 * JB * cos(om * t) * m_b ^ 2 * cos(bb_1) ^ 2) * l + ((0.16e2 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.16e2 * cos(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * sin(bb_2) ^ 2 + (-0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 - 0.16e2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * cos(bb_2) ^ 2) * l * R ^ 2) * R ^ 2 + (0.512e3 * JB ^ 2 * m_b * cos(om * t) ^ 2 + ((0.64e2 * cos(bb_1) ^ 2 + 0.128e3 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.128e3 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * m_b ^ 2 * JB + (0.128e3 * sin(om * t) ^ 2 + 0.128e3 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * m_b ^ 2 * JB * sin(bb_2) ^ 2 + 0.64e2 * m_b ^ 2 * cos(bb_2) ^ 2 * JB * cos(om * t) ^ 2 + ((0.16e2 * cos(bb_1) ^ 2 * sin(om * t) ^ 2 + 0.32e2 * sin(om * t) ^ 4 * sin(bb_1) ^ 2 + (0.16e2 * cos(bb_1) ^ 2 + 0.64e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.32e2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2 * m_b ^ 3 * sin(bb_2) ^ 2 + (0.16e2 * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + 0.16e2 * sin(bb_1) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * m_b ^ 3 * cos(bb_2) ^ 2) * R ^ 2) * R ^ 2) * e) * e);
> Matlab(eq_mo_rho_FF_lin, resultname="aa_FF_lin");
aa_FF_lin = 0.4e1 * ((-0.64e2 * ka * aa + 0.64e2 * cos(om * t) * aa_F ^ 2 * sin(om * t) ^ 2 * bb_1 * JB) * JB ^ 2 - 0.128e3 * sin(om * t) ^ 2 * bb_1 * aa_F * bb_F_1 * JB ^ 3 - 0.64e2 * cos(om * t) * aa_F ^ 2 * sin(om * t) ^ 2 * bb_2 * JB ^ 3 - 0.64e2 * cos(om * t) * kb * bb_1 * JB ^ 2 + (0.64e2 * m_b * g_ * aa + 0.16e2 * m_t * g_ * aa) * JB ^ 2 * l - 0.128e3 * sin(om * t) ^ 2 * bb_2 * aa_F * bb_F_2 * JB ^ 3 + 0.64e2 * cos(om * t) * kb * bb_2 * JB ^ 2 + (((0.128e3 - 0.64e2 * bb_1 ^ 2) * sin(om * t) - 0.64e2 * sin(om * t)) * cos(om * t) * aa_F * JB ^ 3 + ((-0.64e2 * bb_1 ^ 2 - 0.64e2) * sin(om * t) + 0.64e2 * sin(om * t)) * JB ^ 3 * bb_F_1 - 0.64e2 * cos(om * t) * JB ^ 3 * aa_F * sin(om * t) * bb_2 ^ 2 - 0.64e2 * cos(om * t) * JB ^ 3 * sin(om * t) * aa_F + 0.64e2 * JB ^ 3 * sin(om * t) * bb_2 ^ 2 * bb_F_2) * om + ((-0.32e2 * bb_1 * cos(om * t) ^ 2 + 0.32e2 * bb_1) * g_ * m_b * JB ^ 2 + (0.32e2 - 0.32e2 * cos(om * t) ^ 2) * g_ * m_b * JB ^ 2 * bb_2 + ((0.16e2 * bb_1 * cos(om * t) ^ 2 - 0.16e2 * sin(om * t) ^ 2 * bb_1) * aa_F ^ 2 * m_b * JB ^ 2 + (-0.32e2 * m_b * bb_1 * aa_F * cos(om * t) * JB ^ 2 + 0.16e2 * m_b * bb_1 * JB ^ 2 * bb_F_1) * bb_F_1 + 0.16e2 * m_b * bb_2 * aa_F ^ 2 * cos(om * t) ^ 2 * JB ^ 2 - 0.16e2 * m_b * aa_F ^ 2 * sin(om * t) ^ 2 * bb_2 * JB ^ 2 + 0.16e2 * m_b * kb * bb_1 * JB) * l + (0.32e2 * m_b * l * bb_2 * aa_F * cos(om * t) * JB ^ 2 + 0.16e2 * m_b * l * bb_2 * JB ^ 2 * bb_F_2) * bb_F_2 + 0.16e2 * m_b * l * kb * bb_2 * JB + ((((-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) + 0.16e2 * sin(om * t)) * aa_F * m_b * JB ^ 2 + 0.16e2 * m_b * JB ^ 2 * aa_F * sin(om * t) * bb_2 ^ 2) * l + (0.16e2 * m_b * JB ^ 2 * bb_1 + 0.16e2 * m_b * JB ^ 2 * bb_2) * l * om) * om + (((-0.16e2 * aa - 0.16e2 * aa * cos(om * t) ^ 2 * bb_1 ^ 2 - 0.16e2 * aa * sin(om * t) ^ 2 * bb_1 ^ 2) * ka * m_b + ((0.16e2 + 0.16e2 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 4 + 0.16e2 * sin(om * t) ^ 2 * bb_1 + (-0.16e2 * bb_1 + (0.32e2 + 0.16e2 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 2 + 0.16e2 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b * JB) * JB + (((-0.32e2 - 0.32e2 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 4 - 0.32e2 * sin(om * t) ^ 2 * bb_1 + (0.32e2 * bb_1 + (-0.64e2 - 0.32e2 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 2 - 0.32e2 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b * JB ^ 2 + (0.16e2 * sin(om * t) ^ 2 * bb_1 - 0.16e2 * bb_1 + 0.16e2 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * m_b * JB ^ 2 * bb_F_1) * bb_F_1 + (((-0.16e2 * aa * sin(om * t) ^ 2 - 0.16e2 * aa * cos(om * t) ^ 2) * ka * m_b + (0.16e2 * sin(om * t) ^ 4 * bb_1 + 0.16e2 * sin(om * t) ^ 2 * cos(om * t) ^ 2 * bb_1) * cos(om * t) * aa_F ^ 2 * m_b * JB) * JB + (-0.32e2 * sin(om * t) ^ 2 * cos(om * t) ^ 2 * bb_1 - 0.32e2 * sin(om * t) ^ 4 * bb_1) * aa_F * m_b * JB ^ 2 * bb_F_1) * bb_2 ^ 2 + (((-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 4 - 0.16e2 * sin(om * t) ^ 2 + (0.16e2 + (-0.32e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.16e2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b * JB ^ 2 + (-0.16e2 * sin(om * t) ^ 4 - 0.16e2 * sin(om * t) ^ 2 * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b * JB ^ 2 * bb_2 ^ 2) * bb_2 + (-0.16e2 * ka * aa * m_b + 0.16e2 * cos(om * t) * aa_F ^ 2 * sin(om * t) ^ 2 * bb_1 * m_b * JB) * JB - 0.32e2 * sin(om * t) ^ 2 * bb_1 * aa_F * bb_F_1 * m_b * JB ^ 2 - 0.16e2 * m_b * cos(om * t) * aa_F ^ 2 * sin(om * t) ^ 2 * bb_2 * JB ^ 2 + ((-0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.16e2 - 0.16e2 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b * JB + (-0.16e2 * sin(om * t) ^ 2 - 0.16e2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b * JB * bb_2 ^ 2 - 0.16e2 * m_b * cos(om * t) * kb * JB) * bb_1 + (((0.4e1 * aa * cos(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * aa + 0.4e1 * aa * sin(om * t) ^ 2 * bb_1 ^ 2) * g_ * m_t + (0.8e1 * aa + 0.16e2 * aa * sin(om * t) ^ 2 * bb_1 ^ 2 + (0.8e1 * bb_1 + 0.16e2 * aa * bb_1 ^ 2 * cos(om * t)) * cos(om * t)) * g_ * m_b) * m_b * JB + ((0.4e1 * aa * cos(om * t) ^ 2 + 0.4e1 * aa * sin(om * t) ^ 2) * g_ * m_t + (0.16e2 * aa * cos(om * t) ^ 2 + 0.16e2 * aa * sin(om * t) ^ 2) * g_ * m_b) * m_b * JB * bb_2 ^ 2 - 0.8e1 * m_b ^ 2 * g_ * bb_2 * cos(om * t) * JB + (0.4e1 * m_t * g_ * aa + 0.8e1 * m_b * g_ * aa) * m_b * JB + (0.4e1 * m_b ^ 2 * bb_2 * aa_F ^ 2 * cos(om * t) * JB - 0.4e1 * m_b ^ 2 * bb_1 * aa_F ^ 2 * cos(om * t) * JB) * l) * l + ((((-0.32e2 - 0.32e2 * bb_1 ^ 2) * sin(om * t) ^ 4 - 0.32e2 * sin(om * t) ^ 2 + (0.32e2 + (-0.64e2 - 0.32e2 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.32e2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b * JB ^ 2 + (-0.32e2 * sin(om * t) ^ 2 * cos(om * t) ^ 2 - 0.32e2 * sin(om * t) ^ 4) * aa_F * m_b * JB ^ 2 * bb_2 ^ 2) * bb_2 - 0.32e2 * sin(om * t) ^ 2 * bb_2 * aa_F * m_b * JB ^ 2 + (-0.16e2 * sin(om * t) ^ 2 + 0.16e2 - 0.16e2 * cos(om * t) ^ 2) * cos(om * t) * m_b * JB ^ 2 * bb_2 * bb_F_2) * bb_F_2 + ((0.16e2 + 0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.16e2 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b * JB + (0.16e2 * sin(om * t) ^ 2 + 0.16e2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b * JB * bb_2 ^ 2 + 0.16e2 * m_b * cos(om * t) * kb * JB) * bb_2 + (((0.32e2 - 0.16e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 3 + (-0.16e2 * bb_1 ^ 2 + 0.48e2 + (-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.16e2 * sin(om * t) + ((0.32e2 - 0.16e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) + (-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t)) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 + ((-0.48e2 - 0.16e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 3 + (-0.32e2 - 0.16e2 * bb_1 ^ 2 + (0.16e2 + 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) + 0.16e2 * sin(om * t) + ((-0.48e2 - 0.16e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) + (0.16e2 + 0.16e2 * bb_1 ^ 2) * sin(om * t)) * cos(om * t) ^ 2) * m_b * JB ^ 2 * bb_F_1 + (((0.32e2 - 0.32e2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.16e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) + ((0.32e2 - 0.32e2 * bb_1 ^ 2) * sin(om * t) - 0.16e2 * sin(om * t)) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 + ((-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 3 + 0.16e2 * sin(om * t) ^ 3 + ((-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) + 0.16e2 * sin(om * t)) * cos(om * t) ^ 2) * m_b * JB ^ 2 * bb_F_1 + (-0.16e2 * sin(om * t) ^ 3 - 0.16e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 * bb_2 ^ 2) * bb_2 ^ 2 + ((-0.16e2 * bb_1 ^ 2 + 0.48e2 + (-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.32e2 * sin(om * t) + (-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 + ((-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) + 0.16e2 * sin(om * t)) * m_b * JB ^ 2 * bb_F_1 + ((-0.16e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) - 0.16e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 * bb_2 ^ 2 - 0.16e2 * cos(om * t) * m_b * sin(om * t) * aa_F * JB ^ 2 + ((0.16e2 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2 + 0.16e2 * sin(om * t) + 0.16e2 * sin(om * t) ^ 3 * bb_1 ^ 2) * m_b * JB ^ 2 + (((0.16e2 * bb_1 ^ 2 + 0.48e2) * sin(om * t) ^ 3 + 0.16e2 * sin(om * t) + (0.16e2 * bb_1 ^ 2 + 0.48e2) * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 + (0.16e2 * sin(om * t) ^ 3 + 0.16e2 * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 * bb_2 ^ 2) * bb_2 ^ 2 + ((0.32e2 + (-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.16e2 * sin(om * t) + (-0.16e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 + ((-0.16e2 * sin(om * t) ^ 2 + 0.16e2) * sin(om * t) - 0.16e2 * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 * bb_2 ^ 2 - 0.16e2 * JB ^ 2 * sin(om * t) * m_b) * bb_F_2) * om + ((0.8e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.8e1 * bb_1 + (-0.8e1 * bb_1 - 0.8e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.8e1 * bb_1 ^ 3 - 0.8e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 2 * JB + ((0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.8e1 + (-0.8e1 + 0.8e1 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.8e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 2 * JB + ((0.8e1 * sin(om * t) ^ 2 * bb_1 + (0.8e1 * bb_1 - 0.8e1 * sin(om * t) ^ 2 * bb_1 - 0.8e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 2 * JB + (0.8e1 * sin(om * t) ^ 2 + (0.8e1 - 0.8e1 * sin(om * t) ^ 2 - 0.8e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 2 * JB * bb_2) * bb_2) * bb_2 + (0.8e1 * bb_1 - 0.8e1 * bb_1 * cos(om * t) ^ 2) * g_ * m_b ^ 2 * JB + (0.8e1 - 0.8e1 * cos(om * t) ^ 2) * g_ * m_b ^ 2 * JB * bb_2 + ((-0.4e1 * sin(om * t) ^ 4 * bb_1 + (0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 + 0.8e1 * bb_1 + (-0.4e1 * bb_1 + 0.4e1 * bb_1 ^ 3) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 2 * JB + ((-0.8e1 * bb_1 - 0.8e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.8e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * bb_1 + (0.4e1 * bb_1 + 0.4e1 * bb_1 ^ 3) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + ((0.4e1 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F ^ 2 * m_b ^ 2 * JB + ((-0.4e1 * sin(om * t) ^ 4 * bb_1 + 0.4e1 * bb_1 * cos(om * t) ^ 4) * aa_F ^ 2 * m_b ^ 2 * JB + ((-0.8e1 * sin(om * t) ^ 2 * bb_1 - 0.8e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (0.4e1 * sin(om * t) ^ 2 * bb_1 + 0.4e1 * bb_1 * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + (0.4e1 * sin(om * t) ^ 2 + 0.4e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F ^ 2 * m_b ^ 2 * JB * bb_2) * bb_2) * bb_2 + (0.4e1 * bb_1 * cos(om * t) ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1) * aa_F ^ 2 * m_b ^ 2 * JB + (-0.8e1 * m_b ^ 2 * bb_1 * aa_F * cos(om * t) * JB + 0.4e1 * m_b ^ 2 * bb_1 * JB * bb_F_1) * bb_F_1 + ((-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 4 - 0.4e1 * sin(om * t) ^ 2 + (0.8e1 + (-0.8e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.4e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 2 * JB * bb_2 + ((0.4e1 * sin(om * t) ^ 2 + 0.4e1 * cos(om * t) ^ 2) * kb * m_b ^ 2 * bb_2 ^ 2 + 0.4e1 * m_b ^ 2 * kb) * bb_1) * l + ((((0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.8e1 + 0.8e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (0.8e1 * sin(om * t) ^ 2 + 0.8e1 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * bb_2 ^ 2) * bb_2 + 0.8e1 * m_b ^ 2 * bb_2 * aa_F * cos(om * t) * JB) * l + (((0.4e1 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * m_b ^ 2 * JB + (0.4e1 * sin(om * t) ^ 2 + 0.4e1 * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_2 ^ 2) * bb_2 + (0.4e1 * sin(om * t) ^ 2 + 0.4e1 * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_2) * l * bb_F_2) * bb_F_2 + (0.4e1 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * kb * m_b ^ 2 * l * bb_2 + (((-0.8e1 * sin(om * t) ^ 3 * bb_1 ^ 2 + (-0.4e1 + 0.4e1 * sin(om * t) ^ 2) * sin(om * t) + (-0.8e1 * sin(om * t) * bb_1 ^ 2 + 0.4e1 * sin(om * t)) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + ((-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 3 + 0.4e1 * sin(om * t) ^ 3 + ((-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) + 0.4e1 * sin(om * t)) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB * bb_2 ^ 2 + (0.4e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 3 * bb_1 ^ 2 + 0.4e1 * sin(om * t)) * aa_F * m_b ^ 2 * JB + ((0.8e1 + 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 3 + 0.4e1 * sin(om * t) + (0.8e1 + 0.4e1 * bb_1 ^ 2) * sin(om * t) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB * bb_2 ^ 2 + ((-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) + 0.4e1 * sin(om * t)) * aa_F * m_b ^ 2 * JB + ((0.4e1 + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB) * l + ((0.4e1 * sin(om * t) ^ 2 * bb_1 + 0.4e1 * bb_1 * cos(om * t) ^ 2) * m_b ^ 2 * JB + (0.4e1 * sin(om * t) ^ 2 * bb_1 + 0.4e1 * bb_1 * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_2 ^ 2 + 0.4e1 * m_b ^ 2 * JB * bb_1 + ((0.4e1 + 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2 + 0.4e1 + (0.4e1 + 0.4e1 * bb_1 ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_2) * l * om) * om + ((0.4e1 * sin(om * t) ^ 6 * bb_1 ^ 3 + 0.4e1 * sin(om * t) ^ 4 * bb_1 + ((-0.4e1 * bb_1 ^ 3 + 0.12e2 * bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.4e1 * bb_1 + 0.8e1 * sin(om * t) ^ 2 * bb_1 + (-0.4e1 * bb_1 ^ 3 + 0.12e2 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.4e1 * bb_1 + 0.4e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + ((-0.8e1 * sin(om * t) ^ 6 * bb_1 ^ 3 - 0.8e1 * sin(om * t) ^ 4 * bb_1 + ((0.8e1 * bb_1 ^ 3 - 0.24e2 * bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.16e2 * sin(om * t) ^ 2 * bb_1 + 0.8e1 * bb_1 + (0.8e1 * bb_1 ^ 3 - 0.24e2 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.8e1 * bb_1 - 0.8e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + ((-0.4e1 * bb_1 ^ 3 + 0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * bb_1 - 0.4e1 * bb_1 + (0.8e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.4e1 * bb_1 ^ 3 + 0.4e1 * bb_1 + 0.4e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + ((-0.4e1 * aa * sin(om * t) ^ 4 * bb_1 ^ 2 - 0.4e1 * aa * sin(om * t) ^ 2 + (-0.8e1 * aa * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.4e1 * aa - 0.4e1 * aa * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * ka * m_b ^ 2 + ((0.4e1 + 0.4e1 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 6 + 0.4e1 * sin(om * t) ^ 4 * bb_1 + ((-0.4e1 * bb_1 + (0.12e2 + 0.8e1 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * bb_1 + (-0.4e1 * bb_1 + (0.12e2 + 0.4e1 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 2 + 0.4e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + (((-0.8e1 - 0.8e1 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 6 - 0.8e1 * sin(om * t) ^ 4 * bb_1 + ((0.8e1 * bb_1 + (-0.24e2 - 0.16e2 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 + (0.8e1 * bb_1 + (-0.24e2 - 0.8e1 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 2 - 0.8e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + ((0.4e1 * sin(om * t) ^ 2 * bb_1 - 0.4e1 * bb_1) * sin(om * t) ^ 2 + (-0.4e1 * bb_1 + 0.8e1 * sin(om * t) ^ 2 * bb_1 + 0.4e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_F_1) * bb_F_1) * bb_2 ^ 2 + ((-0.4e1 * sin(om * t) ^ 6 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 4 + ((0.4e1 * bb_1 ^ 2 - 0.12e2 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 + 0.4e1 - 0.8e1 * sin(om * t) ^ 2 + (-0.12e2 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.4e1 + 0.4e1 * bb_1 ^ 2 - 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + ((-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 6 - 0.4e1 * sin(om * t) ^ 4 + ((0.4e1 + (-0.12e2 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.4e1 * sin(om * t) ^ 2 + (0.4e1 + (-0.4e1 * bb_1 ^ 2 - 0.12e2) * sin(om * t) ^ 2 - 0.4e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB * bb_2 ^ 2) * bb_2 + (-0.4e1 * aa * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.4e1 * aa * cos(om * t) ^ 2 * bb_1 ^ 2 - 0.4e1 * aa) * ka * m_b ^ 2 + ((0.4e1 + 0.4e1 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 4 + 0.4e1 * sin(om * t) ^ 2 * bb_1 + (-0.4e1 * bb_1 + (0.8e1 + 0.4e1 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 2 + 0.4e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + (((-0.8e1 - 0.8e1 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 4 - 0.8e1 * sin(om * t) ^ 2 * bb_1 + (0.8e1 * bb_1 + (-0.16e2 - 0.8e1 * bb_1 ^ 2) * bb_1 * sin(om * t) ^ 2 - 0.8e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + (0.4e1 * sin(om * t) ^ 2 * bb_1 - 0.4e1 * bb_1 + 0.4e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + ((-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 4 - 0.4e1 * sin(om * t) ^ 2 + (0.4e1 + (-0.8e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.4e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB * bb_2 + ((-0.4e1 * sin(om * t) ^ 4 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 + (-0.4e1 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2 * bb_2 ^ 2 + (-0.4e1 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2) * bb_1 + (((aa * sin(om * t) ^ 2 + aa * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.2e1 * aa * sin(om * t) ^ 2 * bb_1 ^ 2 + aa + aa * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * g_ * m_t + (0.2e1 * aa * sin(om * t) ^ 2 + 0.4e1 * aa * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.2e1 * sin(om * t) ^ 2 * bb_1 + (0.2e1 * aa + 0.8e1 * aa * sin(om * t) ^ 2 * bb_1 ^ 2 + (0.2e1 * bb_1 + 0.4e1 * aa * bb_1 ^ 2 * cos(om * t)) * cos(om * t)) * cos(om * t)) * cos(om * t)) * g_ * m_b) * m_b ^ 2 * bb_2 ^ 2 + (-0.2e1 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * g_ * m_b ^ 3 * bb_2 + ((aa + aa * cos(om * t) ^ 2 * bb_1 ^ 2 + aa * sin(om * t) ^ 2 * bb_1 ^ 2) * g_ * m_t + (0.2e1 * aa * sin(om * t) ^ 2 * bb_1 ^ 2 + (0.2e1 * bb_1 + 0.2e1 * aa * bb_1 ^ 2 * cos(om * t)) * cos(om * t)) * g_ * m_b) * m_b ^ 2 + ((-0.1e1 * sin(om * t) ^ 2 * bb_1 - 0.1e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 * bb_2 ^ 2 + (sin(om * t) ^ 2 * bb_1 ^ 2 + 0.1e1 + bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 * bb_2 - 0.1e1 * m_b ^ 3 * bb_1 * aa_F ^ 2 * cos(om * t)) * l) * l + (((-0.8e1 * sin(om * t) ^ 4 - 0.8e1 * sin(om * t) ^ 6 * bb_1 ^ 2 + ((0.8e1 * bb_1 ^ 2 - 0.24e2 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.16e2 * sin(om * t) ^ 2 + 0.8e1 + (-0.8e1 + 0.8e1 * bb_1 ^ 2 - 0.24e2 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.8e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + ((-0.8e1 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 6 - 0.8e1 * sin(om * t) ^ 4 + ((0.8e1 + (-0.24e2 - 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.8e1 * sin(om * t) ^ 2 + (0.8e1 + (-0.24e2 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.8e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB * bb_2 ^ 2) * bb_2 + ((-0.8e1 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 4 - 0.8e1 * sin(om * t) ^ 2 + (0.8e1 + (-0.16e2 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.8e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB * bb_2 + ((((0.4e1 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.4e1 * sin(om * t) ^ 2 + 0.4e1 + (-0.4e1 + 0.4e1 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB + ((-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) ^ 2 + (0.4e1 - 0.8e1 * sin(om * t) ^ 2 - 0.4e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_2 ^ 2) * bb_2 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1 - 0.4e1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_2) * bb_F_2) * bb_F_2 + ((0.4e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 2 + (0.4e1 + 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2 * bb_2 ^ 2 + (0.4e1 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2) * bb_2 + (((0.4e1 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) + ((0.4e1 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (-0.8e1 * sin(om * t) ^ 5 * bb_1 ^ 4 + (-0.12e2 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.4e1 + 0.4e1 * sin(om * t) ^ 2) * sin(om * t) + (-0.16e2 * sin(om * t) ^ 3 * bb_1 ^ 4 + (-0.12e2 * bb_1 ^ 2 + 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) + 0.4e1 * sin(om * t) + (0.4e1 * sin(om * t) * bb_1 ^ 2 - 0.8e1 * sin(om * t) * bb_1 ^ 4) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1 + (((0.8e1 - 0.4e1 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 5 + (0.12e2 - 0.4e1 * bb_1 ^ 2 + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 3 - 0.4e1 * sin(om * t) ^ 3 + ((0.16e2 - 0.8e1 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 3 + (0.12e2 - 0.4e1 * bb_1 ^ 2 + (-0.8e1 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) + ((0.8e1 - 0.4e1 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t)) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((-0.4e1 * bb_1 ^ 2 - 0.12e2) * bb_1 ^ 2 * sin(om * t) ^ 5 + (-0.8e1 - 0.4e1 * bb_1 ^ 2 + (0.4e1 + 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 3 + 0.4e1 * sin(om * t) ^ 3 + ((-0.24e2 - 0.8e1 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 3 + (-0.8e1 - 0.4e1 * bb_1 ^ 2 + (0.8e1 + 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) + 0.4e1 * sin(om * t) + ((-0.4e1 * bb_1 ^ 2 - 0.12e2) * bb_1 ^ 2 * sin(om * t) + (0.4e1 + 0.4e1 * bb_1 ^ 2) * sin(om * t)) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1 + (-0.4e1 * sin(om * t) ^ 5 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) - 0.8e1 * sin(om * t) ^ 3 * bb_1 ^ 2 - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * bb_2 ^ 2) * bb_2 ^ 2 + (((0.12e2 - 0.4e1 * bb_1 ^ 2) * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.16e2 - 0.4e1 * bb_1 ^ 2 + (-0.8e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) + (((0.12e2 - 0.4e1 * bb_1 ^ 2) * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) + (-0.8e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((-0.4e1 * bb_1 ^ 2 - 0.12e2) * bb_1 ^ 2 * sin(om * t) ^ 3 + (-0.8e1 - 0.4e1 * bb_1 ^ 2 + (0.4e1 + 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) + 0.4e1 * sin(om * t) + ((-0.4e1 * bb_1 ^ 2 - 0.12e2) * bb_1 ^ 2 * sin(om * t) + (0.4e1 + 0.4e1 * bb_1 ^ 2) * sin(om * t)) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1 + ((0.4e1 - 0.4e1 * bb_1 ^ 2 + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 3 + (-0.4e1 - 0.4e1 * sin(om * t) ^ 2) * sin(om * t) + ((0.4e1 - 0.4e1 * bb_1 ^ 2 + (-0.8e1 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * bb_2 ^ 2 + ((0.4e1 + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (((0.12e2 * sin(om * t) ^ 5 * bb_1 ^ 2 + 0.12e2 * sin(om * t) ^ 3 + (0.24e2 * sin(om * t) ^ 3 * bb_1 ^ 2 + 0.12e2 * sin(om * t) + 0.12e2 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.8e1 + 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 5 + 0.4e1 * sin(om * t) ^ 3 + ((0.8e1 * bb_1 ^ 2 + 0.16e2) * sin(om * t) ^ 3 + 0.4e1 * sin(om * t) + (0.8e1 + 0.4e1 * bb_1 ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_2 ^ 2) * bb_2 ^ 2 + ((0.8e1 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.8e1 - 0.4e1 * sin(om * t) ^ 2) * sin(om * t) + ((0.8e1 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.12e2 + 0.4e1 * bb_1 ^ 2 + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) + ((0.12e2 + 0.4e1 * bb_1 ^ 2 + (-0.8e1 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_2 ^ 2 + ((0.4e1 + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) + (-0.4e1 - 0.4e1 * bb_1 ^ 2) * sin(om * t) * cos(om * t) ^ 2) * m_b ^ 2 * JB) * bb_F_2) * om + (((0.2e1 * sin(om * t) ^ 2 * bb_1 + 0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 4 + ((0.4e1 * bb_1 ^ 3 - 0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + 0.2e1 * bb_1 - 0.2e1 * sin(om * t) ^ 2 * bb_1 + (-0.2e1 * bb_1 - 0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.2e1 * bb_1 ^ 3 - 0.2e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 3 + (0.2e1 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + ((0.4e1 * bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 + 0.2e1 - 0.2e1 * sin(om * t) ^ 2 + (0.2e1 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.2e1 - 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 3 * bb_2) * bb_2 ^ 2 + (0.2e1 * bb_1 + 0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + (-0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.2e1 * bb_1 ^ 3 - 0.2e1 * bb_1 - 0.2e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 3 + (0.2e1 + 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + (-0.2e1 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.2e1 * bb_1 ^ 2 - 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * g_ * m_b ^ 3 * bb_2 + (((-0.1e1 * sin(om * t) ^ 6 * bb_1 + (bb_1 ^ 3 * sin(om * t) ^ 4 + (0.2e1 * bb_1 - 0.3e1 * sin(om * t) ^ 2 * bb_1) * sin(om * t) ^ 2 + (0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.2e1 * bb_1 - 0.3e1 * sin(om * t) ^ 2 * bb_1 + (bb_1 ^ 3 - 0.1e1 * bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 3 + ((-0.2e1 * sin(om * t) ^ 2 * bb_1 - 0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 4 + (-0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.2e1 * bb_1 - 0.2e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (sin(om * t) ^ 4 * bb_1 + bb_1 ^ 3 * sin(om * t) ^ 4 + (0.2e1 * sin(om * t) ^ 2 * bb_1 + 0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + (bb_1 ^ 3 + bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1) * bb_F_1 + (sin(om * t) ^ 2 + sin(om * t) ^ 4 * bb_1 ^ 2 + (0.1e1 + 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F ^ 2 * m_b ^ 3 * bb_2) * bb_2 ^ 2 + (-0.1e1 * sin(om * t) ^ 4 * bb_1 + (bb_1 ^ 3 * sin(om * t) ^ 2 + 0.2e1 * bb_1 - 0.2e1 * sin(om * t) ^ 2 * bb_1 + (bb_1 ^ 3 - 0.1e1 * bb_1) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 3 + ((-0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.2e1 * bb_1 - 0.2e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (bb_1 ^ 3 * sin(om * t) ^ 2 + sin(om * t) ^ 2 * bb_1 + (bb_1 ^ 3 + bb_1) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1) * bb_F_1 + (-0.1e1 * sin(om * t) ^ 4 - 0.1e1 * sin(om * t) ^ 6 * bb_1 ^ 2 + ((0.2e1 * bb_1 ^ 2 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 + 0.2e1 - 0.2e1 * sin(om * t) ^ 2 + (-0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.2e1 * bb_1 ^ 2 - 0.1e1 - 0.1e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F ^ 2 * m_b ^ 3 * bb_2) * l + (((0.2e1 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.2e1 + 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * bb_2 ^ 3 + (0.2e1 + 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * bb_2) * l + ((sin(om * t) ^ 2 + sin(om * t) ^ 4 * bb_1 ^ 2 + (0.1e1 + 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2 ^ 3 + (sin(om * t) ^ 2 + sin(om * t) ^ 4 * bb_1 ^ 2 + (0.1e1 + 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2) * l * bb_F_2) * bb_F_2 + (((-0.2e1 * sin(om * t) ^ 5 * bb_1 ^ 2 + (-0.1e1 + sin(om * t) ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 3 * bb_1 ^ 2 + (-0.1e1 + 0.2e1 * sin(om * t) ^ 2) * sin(om * t) + (-0.2e1 * sin(om * t) * bb_1 ^ 2 + sin(om * t)) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * bb_2 ^ 2 + (0.2e1 * sin(om * t) ^ 5 * bb_1 ^ 2 + 0.2e1 * sin(om * t) ^ 3 + (0.4e1 * sin(om * t) ^ 3 * bb_1 ^ 2 + 0.2e1 * sin(om * t) + 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * bb_2 ^ 2 + (-0.2e1 * sin(om * t) ^ 3 * bb_1 ^ 2 + (-0.1e1 + sin(om * t) ^ 2) * sin(om * t) + (-0.2e1 * sin(om * t) * bb_1 ^ 2 + sin(om * t)) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 + ((bb_1 ^ 2 - 0.1e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) + ((bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.1e1 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3) * l + ((sin(om * t) ^ 4 * bb_1 + (0.2e1 * sin(om * t) ^ 2 * bb_1 + bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2 ^ 2 + (sin(om * t) ^ 2 * bb_1 + bb_1 * cos(om * t) ^ 2) * m_b ^ 3 + (sin(om * t) ^ 2 + sin(om * t) ^ 4 * bb_1 ^ 2 + (0.1e1 + 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2) * l * om) * om + (((sin(om * t) ^ 8 * bb_1 ^ 3 + sin(om * t) ^ 6 * bb_1 + ((-0.1e1 * bb_1 ^ 3 + 0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 4 + (-0.1e1 * bb_1 + 0.3e1 * sin(om * t) ^ 2 * bb_1) * sin(om * t) ^ 2 + ((-0.2e1 * bb_1 ^ 3 + 0.6e1 * bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.1e1 * bb_1 + 0.3e1 * sin(om * t) ^ 2 * bb_1 + (-0.1e1 * bb_1 ^ 3 + 0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + bb_1 + bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 + ((-0.2e1 * sin(om * t) ^ 8 * bb_1 ^ 3 - 0.2e1 * sin(om * t) ^ 6 * bb_1 + ((0.2e1 * bb_1 ^ 3 - 0.8e1 * bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 4 + (0.2e1 * bb_1 - 0.6e1 * sin(om * t) ^ 2 * bb_1) * sin(om * t) ^ 2 + ((0.4e1 * bb_1 ^ 3 - 0.12e2 * bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + 0.2e1 * bb_1 - 0.6e1 * sin(om * t) ^ 2 * bb_1 + (0.2e1 * bb_1 ^ 3 - 0.8e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.2e1 * bb_1 - 0.2e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 + ((-0.1e1 * bb_1 ^ 3 + bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 4 + (-0.1e1 * bb_1 + sin(om * t) ^ 2 * bb_1) * sin(om * t) ^ 2 + ((-0.2e1 * bb_1 ^ 3 + 0.3e1 * bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.1e1 * bb_1 + 0.2e1 * sin(om * t) ^ 2 * bb_1 + (0.3e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.1e1 * bb_1 ^ 3 + bb_1 + bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_F_1) * bb_F_1) * bb_2 ^ 2 + (-0.1e1 * sin(om * t) ^ 6 - 0.1e1 * sin(om * t) ^ 8 * bb_1 ^ 2 + ((bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 4 + (0.1e1 - 0.3e1 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + ((0.2e1 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.3e1 * sin(om * t) ^ 2 + 0.1e1 + (-0.1e1 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + bb_1 ^ 2 - 0.1e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 * bb_2 ^ 3 + (sin(om * t) ^ 6 * bb_1 ^ 3 + sin(om * t) ^ 4 * bb_1 + ((0.3e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.1e1 * bb_1 ^ 3) * sin(om * t) ^ 2 - 0.1e1 * bb_1 + 0.2e1 * sin(om * t) ^ 2 * bb_1 + (0.3e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.1e1 * bb_1 ^ 3 + bb_1 + bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 + ((-0.2e1 * sin(om * t) ^ 6 * bb_1 ^ 3 - 0.2e1 * sin(om * t) ^ 4 * bb_1 + ((0.2e1 * bb_1 ^ 3 - 0.6e1 * bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + 0.2e1 * bb_1 - 0.4e1 * sin(om * t) ^ 2 * bb_1 + (0.2e1 * bb_1 ^ 3 - 0.6e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.2e1 * bb_1 - 0.2e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 + ((-0.1e1 * bb_1 ^ 3 + bb_1 ^ 3 * sin(om * t) ^ 2) * sin(om * t) ^ 2 - 0.1e1 * bb_1 + sin(om * t) ^ 2 * bb_1 + (-0.1e1 * bb_1 ^ 3 + 0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + bb_1 + bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_F_1) * bb_F_1 + (-0.1e1 * sin(om * t) ^ 4 - 0.1e1 * sin(om * t) ^ 6 * bb_1 ^ 2 + ((bb_1 ^ 2 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 + 0.1e1 - 0.2e1 * sin(om * t) ^ 2 + (bb_1 ^ 2 - 0.1e1 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.1e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 * bb_2 + ((-0.2e1 * sin(om * t) ^ 8 * bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 6 + ((0.2e1 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 4 + (0.2e1 - 0.6e1 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + ((0.4e1 * bb_1 ^ 2 - 0.12e2 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 + 0.2e1 - 0.6e1 * sin(om * t) ^ 2 + (0.2e1 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.2e1 - 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * bb_2 ^ 3 + (-0.2e1 * sin(om * t) ^ 4 - 0.2e1 * sin(om * t) ^ 6 * bb_1 ^ 2 + ((0.2e1 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.4e1 * sin(om * t) ^ 2 + 0.2e1 + (0.2e1 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.2e1 - 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * bb_2 + (((bb_1 ^ 2 - 0.1e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 4 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) ^ 2 + ((0.2e1 * bb_1 ^ 2 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 + 0.1e1 - 0.2e1 * sin(om * t) ^ 2 + (bb_1 ^ 2 - 0.1e1 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.1e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_2 ^ 3 + ((bb_1 ^ 2 - 0.1e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.1e1 * sin(om * t) ^ 2 + 0.1e1 + (-0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.1e1 + bb_1 ^ 2 - 0.1e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_2) * bb_F_2) * bb_F_2 + ((((bb_1 ^ 2 - 0.1e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 5 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + ((0.2e1 * bb_1 ^ 2 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) + ((bb_1 ^ 2 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.1e1 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (-0.2e1 * sin(om * t) ^ 7 * bb_1 ^ 4 + (-0.3e1 * bb_1 ^ 2 + sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 5 + (-0.1e1 + sin(om * t) ^ 2) * sin(om * t) ^ 3 + (-0.6e1 * sin(om * t) ^ 5 * bb_1 ^ 4 + (-0.6e1 * bb_1 ^ 2 + 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.1e1 + 0.2e1 * sin(om * t) ^ 2) * sin(om * t) + (-0.6e1 * sin(om * t) ^ 3 * bb_1 ^ 4 + (-0.3e1 * bb_1 ^ 2 + 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) + sin(om * t) + (-0.2e1 * sin(om * t) * bb_1 ^ 4 + sin(om * t) * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1) * bb_2 ^ 2 + 0.2e1 * ((bb_1 ^ 2 - 0.1e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) + ((bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.1e1 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (-0.2e1 * sin(om * t) ^ 5 * bb_1 ^ 4 + (-0.3e1 * bb_1 ^ 2 + sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.1e1 + sin(om * t) ^ 2) * sin(om * t) + (-0.4e1 * sin(om * t) ^ 3 * bb_1 ^ 4 + (-0.3e1 * bb_1 ^ 2 + 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) + sin(om * t) + (-0.2e1 * sin(om * t) * bb_1 ^ 4 + sin(om * t) * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1 + ((bb_1 ^ 2 - 0.1e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 5 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + ((0.2e1 * bb_1 ^ 2 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) + ((bb_1 ^ 2 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.1e1 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * bb_2 ^ 2 + ((0.2e1 * sin(om * t) ^ 5 + 0.2e1 * sin(om * t) ^ 7 * bb_1 ^ 2 + (0.4e1 * sin(om * t) ^ 3 + 0.6e1 * sin(om * t) ^ 5 * bb_1 ^ 2 + (0.2e1 * sin(om * t) + 0.6e1 * sin(om * t) ^ 3 * bb_1 ^ 2 + 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2 ^ 4 + ((0.3e1 * bb_1 ^ 2 - 0.1e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 5 + (0.3e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + ((0.6e1 * bb_1 ^ 2 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.3e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) + ((0.3e1 * bb_1 ^ 2 - 0.3e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.1e1 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2 ^ 2 + ((bb_1 ^ 2 - 0.1e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.1e1 - 0.1e1 * sin(om * t) ^ 2) * sin(om * t) + ((bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.1e1 * sin(om * t) - 0.1e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * m_b ^ 3) * bb_F_2) * om) * R) * R) * R) * R) * R) * R + (((0.32e2 * sin(om * t) ^ 2 * bb_1 - 0.32e2 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b * JB ^ 2 + (0.64e2 * m_b * bb_1 * aa_F * cos(om * t) ^ 2 * JB ^ 2 - 0.32e2 * m_b * cos(om * t) * bb_1 * JB ^ 2 * bb_F_1) * bb_F_1 + 0.32e2 * m_b * bb_2 * aa_F ^ 2 * cos(om * t) ^ 3 * JB ^ 2 - 0.32e2 * m_b * cos(om * t) * aa_F ^ 2 * sin(om * t) ^ 2 * bb_2 * JB ^ 2 - 0.32e2 * m_b * cos(om * t) * kb * bb_1 * JB + (0.64e2 * m_b * bb_2 * aa_F * cos(om * t) ^ 2 * JB ^ 2 + 0.32e2 * cos(om * t) * m_b * bb_2 * JB ^ 2 * bb_F_2) * bb_F_2 + 0.32e2 * m_b * cos(om * t) * kb * bb_2 * JB + (((0.64e2 + 0.32e2 * bb_1 ^ 2 - 0.32e2 * sin(om * t) ^ 2) * sin(om * t) - 0.32e2 * sin(om * t) - 0.32e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 + ((-0.32e2 + 0.32e2 * sin(om * t) ^ 2) * sin(om * t) + 0.32e2 * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 * bb_F_1 + ((0.64e2 - 0.32e2 * sin(om * t) ^ 2) * sin(om * t) - 0.32e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b * JB ^ 2 + 0.32e2 * JB ^ 2 * sin(om * t) * aa_F * cos(om * t) * bb_2 ^ 2 * m_b - 0.32e2 * cos(om * t) * m_b * sin(om * t) * aa_F * JB ^ 2 + ((0.32e2 - 0.32e2 * sin(om * t) ^ 2) * sin(om * t) - 0.32e2 * sin(om * t) * cos(om * t) ^ 2) * m_b * JB ^ 2 * bb_F_2 + (-0.32e2 * m_b * cos(om * t) * JB ^ 2 * bb_1 + 0.32e2 * m_b * cos(om * t) * JB ^ 2 * bb_2) * om) * om + ((0.16e2 * aa - 0.16e2 * bb_1 * cos(om * t)) * cos(om * t) * g_ * m_b ^ 2 * JB - 0.16e2 * m_b ^ 2 * g_ * bb_2 * cos(om * t) ^ 2 * JB - 0.16e2 * m_b ^ 2 * cos(om * t) * g_ * aa * JB + (0.16e2 * m_b ^ 2 * bb_1 * cos(om * t) ^ 2 * aa_F ^ 2 * JB + 0.16e2 * m_b ^ 2 * bb_2 * cos(om * t) ^ 2 * aa_F ^ 2 * JB) * l + ((((0.8e1 + 0.8e1 * sin(om * t) ^ 2) * sin(om * t) + 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB + ((-0.8e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * aa_F * m_b ^ 2 * JB) * l + ((0.8e1 * bb_1 * cos(om * t) ^ 2 + 0.8e1 * sin(om * t) ^ 2 * bb_1) * m_b ^ 2 * JB + (0.8e1 * sin(om * t) ^ 2 + 0.8e1 * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_2) * l * om) * om + ((0.8e1 * sin(om * t) ^ 4 * bb_1 + (-0.8e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.16e2 * sin(om * t) ^ 2 * bb_1 - 0.16e2 * bb_1 + (0.8e1 * bb_1 - 0.8e1 * bb_1 ^ 3) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + ((0.16e2 * bb_1 + 0.16e2 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.16e2 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 2 * JB + (-0.8e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 + (-0.8e1 * bb_1 - 0.8e1 * bb_1 ^ 3) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + ((0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.8e1 + 0.8e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 3 * aa_F ^ 2 * m_b ^ 2 * JB + ((0.8e1 * sin(om * t) ^ 4 * bb_1 - 0.8e1 * bb_1 * cos(om * t) ^ 4) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + ((0.16e2 * sin(om * t) ^ 2 * bb_1 + 0.16e2 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 2 * JB + (-0.8e1 * sin(om * t) ^ 2 * bb_1 - 0.8e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_F_1) * bb_F_1 + (0.8e1 * sin(om * t) ^ 2 + 0.8e1 * cos(om * t) ^ 2) * cos(om * t) ^ 3 * aa_F ^ 2 * m_b ^ 2 * JB * bb_2) * bb_2) * bb_2 + (0.8e1 * sin(om * t) ^ 2 * bb_1 - 0.8e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB + (0.16e2 * m_b ^ 2 * bb_1 * aa_F * cos(om * t) ^ 2 * JB - 0.8e1 * m_b ^ 2 * cos(om * t) * bb_1 * JB * bb_F_1) * bb_F_1 + ((-0.8e1 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 4 - 0.8e1 * sin(om * t) ^ 2 + (0.16e2 + (-0.16e2 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.8e1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 2 * JB * bb_2 + ((-0.8e1 * sin(om * t) ^ 2 - 0.8e1 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2 * bb_2 ^ 2 - 0.8e1 * m_b ^ 2 * cos(om * t) * kb) * bb_1 + (((0.16e2 + 0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.16e2 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 2 * JB + (0.16e2 * sin(om * t) ^ 2 + 0.16e2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 2 * JB * bb_2 ^ 2) * bb_2 + 0.16e2 * m_b ^ 2 * bb_2 * aa_F * cos(om * t) ^ 2 * JB + (((0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.8e1 + 0.8e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB + (0.8e1 * sin(om * t) ^ 2 + 0.8e1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_2 ^ 2) * bb_2 + (0.8e1 * sin(om * t) ^ 2 + 0.8e1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_2) * bb_F_2) * bb_F_2 + (0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.8e1 + 0.8e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * kb * m_b ^ 2 * bb_2 + (((0.24e2 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.16e2 * sin(om * t) ^ 2 + 0.16e2) * sin(om * t) + ((0.24e2 * bb_1 ^ 2 - 0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.16e2 * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((-0.8e1 * bb_1 ^ 2 + 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.8e1 + 0.8e1 * sin(om * t) ^ 2) * sin(om * t) + ((-0.8e1 * bb_1 ^ 2 + 0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) + 0.8e1 * sin(om * t) + 0.8e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1 + (((0.8e1 * bb_1 ^ 2 + 0.16e2 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 - 0.8e1 * sin(om * t) ^ 3 + ((0.8e1 * bb_1 ^ 2 + 0.16e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((-0.8e1 + 0.8e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + ((-0.8e1 + 0.16e2 * sin(om * t) ^ 2) * sin(om * t) + 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1) * bb_2 ^ 2 + ((0.16e2 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.16e2 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) + ((0.16e2 * bb_1 ^ 2 - 0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((0.8e1 * bb_1 ^ 2 + 0.24e2 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + 0.8e1 * sin(om * t) + ((0.8e1 * bb_1 ^ 2 + 0.24e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * bb_2 ^ 2 + ((0.8e1 * bb_1 ^ 2 + 0.16e2 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((-0.8e1 + 0.8e1 * sin(om * t) ^ 2) * sin(om * t) + 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_F_1 + ((0.16e2 + (-0.16e2 - 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) + (-0.16e2 - 0.8e1 * bb_1 ^ 2) * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (((0.8e1 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.8e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) + ((0.8e1 * bb_1 ^ 2 - 0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.8e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + ((-0.16e2 * sin(om * t) ^ 2 + 0.8e1) * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_2 ^ 2 + ((0.8e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) * cos(om * t) ^ 2) * m_b ^ 2 * JB) * bb_F_2 + ((-0.8e1 * sin(om * t) ^ 2 * bb_1 - 0.8e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB + (-0.8e1 * sin(om * t) ^ 2 * bb_1 - 0.8e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_2 ^ 2 - 0.8e1 * m_b ^ 2 * cos(om * t) * JB * bb_1 + ((0.8e1 + 0.8e1 * bb_1 ^ 2) * sin(om * t) ^ 2 + 0.8e1 + (0.8e1 + 0.8e1 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_2) * om) * om + ((0.4e1 * aa * sin(om * t) ^ 2 + (-0.4e1 * sin(om * t) ^ 2 * bb_1 + (0.4e1 * aa - 0.4e1 * bb_1 * cos(om * t)) * cos(om * t)) * cos(om * t)) * cos(om * t) * g_ * m_b ^ 3 * bb_2 ^ 2 + (-0.4e1 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * g_ * m_b ^ 3 * bb_2 + (-0.4e1 * aa * sin(om * t) ^ 2 * bb_1 ^ 2 + (-0.4e1 * bb_1 - 0.4e1 * aa * bb_1 ^ 2 * cos(om * t)) * cos(om * t)) * cos(om * t) * g_ * m_b ^ 3 + ((0.4e1 * sin(om * t) ^ 2 * bb_1 + 0.4e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F ^ 2 * m_b ^ 3 * bb_2 ^ 2 + (0.4e1 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F ^ 2 * m_b ^ 3 * bb_2 + 0.4e1 * m_b ^ 3 * bb_1 * cos(om * t) ^ 2 * aa_F ^ 2) * l + ((((0.2e1 + 0.2e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + ((0.2e1 + 0.4e1 * sin(om * t) ^ 2) * sin(om * t) + 0.2e1 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3 * bb_2 ^ 2 + ((-0.2e1 * bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + ((-0.2e1 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * aa_F * m_b ^ 3) * l + ((0.2e1 * sin(om * t) ^ 4 * bb_1 + (0.4e1 * sin(om * t) ^ 2 * bb_1 + 0.2e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2 ^ 2 + (0.2e1 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.2e1 + 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2 + (0.2e1 * bb_1 * cos(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 2 * bb_1) * m_b ^ 3) * l * om) * om + (((0.2e1 * sin(om * t) ^ 6 * bb_1 + (-0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 4 + (-0.4e1 * bb_1 + 0.6e1 * sin(om * t) ^ 2 * bb_1) * sin(om * t) ^ 2 + (-0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.4e1 * bb_1 + 0.6e1 * sin(om * t) ^ 2 * bb_1 + (0.2e1 * bb_1 - 0.2e1 * bb_1 ^ 3) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 + ((0.4e1 * sin(om * t) ^ 2 * bb_1 + 0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 4 + (0.4e1 * bb_1 + 0.8e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.4e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 3 + (-0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 4 - 0.2e1 * sin(om * t) ^ 4 * bb_1 + (-0.4e1 * sin(om * t) ^ 2 * bb_1 - 0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + (-0.2e1 * bb_1 - 0.2e1 * bb_1 ^ 3) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_F_1) * bb_F_1 + (0.2e1 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.2e1 + 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 3 * aa_F ^ 2 * m_b ^ 3 * bb_2) * bb_2 ^ 2 + (0.2e1 * sin(om * t) ^ 4 * bb_1 + (-0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * bb_1 - 0.4e1 * bb_1 + (0.2e1 * bb_1 - 0.2e1 * bb_1 ^ 3) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 + ((0.4e1 * bb_1 ^ 3 * sin(om * t) ^ 2 + 0.4e1 * bb_1 + 0.4e1 * bb_1 ^ 3 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 3 + (-0.2e1 * bb_1 ^ 3 * sin(om * t) ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 + (-0.2e1 * bb_1 - 0.2e1 * bb_1 ^ 3) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_F_1) * bb_F_1 + (-0.2e1 * sin(om * t) ^ 4 - 0.2e1 * sin(om * t) ^ 6 * bb_1 ^ 2 + ((0.4e1 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 2 - 0.4e1 * sin(om * t) ^ 2 + 0.4e1 + (-0.2e1 + 0.4e1 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F ^ 2 * m_b ^ 3 * bb_2 + ((0.4e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 2 + (0.4e1 + 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 3 * bb_2 ^ 3 + (0.4e1 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * aa_F * m_b ^ 3 * bb_2 + ((0.2e1 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.2e1 + 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_2 ^ 3 + (0.2e1 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.2e1 + 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_2) * bb_F_2) * bb_F_2 + ((((0.6e1 * bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 5 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) ^ 3 + ((0.12e2 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.4e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) + ((0.6e1 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) - 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + ((-0.2e1 * bb_1 ^ 2 + 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 5 + (-0.2e1 + 0.2e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + ((-0.4e1 * bb_1 ^ 2 + 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.2e1 + 0.4e1 * sin(om * t) ^ 2) * sin(om * t) + ((-0.2e1 * bb_1 ^ 2 + 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) + 0.2e1 * sin(om * t) + 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1) * bb_2 ^ 2 + ((0.6e1 * bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 5 + (0.6e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + ((0.12e2 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.6e1 - 0.4e1 * sin(om * t) ^ 2) * sin(om * t) + ((0.6e1 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.2e1 * sin(om * t) - 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * bb_2 ^ 2 + ((0.6e1 * bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) + ((0.6e1 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) - 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + ((-0.2e1 * bb_1 ^ 2 + 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.2e1 + 0.2e1 * sin(om * t) ^ 2) * sin(om * t) + ((-0.2e1 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) + 0.2e1 * sin(om * t) + 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_F_1 + ((0.4e1 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 2 + 0.4e1) * sin(om * t) + ((0.4e1 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.4e1 * sin(om * t) - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + (((0.2e1 * bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 5 + (0.2e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + ((0.4e1 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (-0.4e1 * sin(om * t) ^ 2 + 0.2e1) * sin(om * t) + ((0.2e1 * bb_1 ^ 2 - 0.6e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.2e1 * sin(om * t) - 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2 ^ 2 + ((0.2e1 * bb_1 ^ 2 - 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.2e1 - 0.2e1 * sin(om * t) ^ 2) * sin(om * t) + ((0.2e1 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.2e1 * sin(om * t) - 0.2e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * m_b ^ 3) * bb_F_2 + ((-0.2e1 * sin(om * t) ^ 4 * bb_1 + (-0.4e1 * sin(om * t) ^ 2 * bb_1 - 0.2e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_2 ^ 2 + (-0.2e1 * sin(om * t) ^ 2 * bb_1 - 0.2e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 + (0.2e1 * sin(om * t) ^ 2 + 0.2e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.2e1 + 0.2e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_2) * om) * om) * R) * R) * R) * R) * R + (0.256e3 * m_b * sin(om * t) * om * aa_F * cos(om * t) * JB ^ 2 + (-0.16e2 * JB * m_b ^ 2 * bb_1 * aa_F ^ 2 * cos(om * t) ^ 3 + 0.16e2 * m_b ^ 2 * bb_2 * cos(om * t) ^ 3 * aa_F ^ 2 * JB + ((0.64e2 * sin(om * t) ^ 3 * bb_1 ^ 2 + (0.48e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) + (0.64e2 * sin(om * t) * bb_1 ^ 2 - 0.16e2 * sin(om * t)) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + (0.64e2 * sin(om * t) ^ 3 + 0.64e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB * bb_2 ^ 2 + ((0.48e2 - 0.16e2 * sin(om * t) ^ 2) * sin(om * t) - 0.16e2 * sin(om * t) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 2 * JB + ((-0.16e2 * sin(om * t) ^ 2 * bb_1 - 0.16e2 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB + (0.16e2 * sin(om * t) ^ 2 + 0.16e2 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 2 * JB * bb_2) * om) * om + ((-0.4e1 * sin(om * t) ^ 2 * bb_1 - 0.4e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 3 * aa_F ^ 2 * m_b ^ 3 * bb_2 ^ 2 + (0.4e1 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 3 * aa_F ^ 2 * m_b ^ 3 * bb_2 - 0.4e1 * m_b ^ 3 * bb_1 * aa_F ^ 2 * cos(om * t) ^ 3 + ((0.16e2 * sin(om * t) ^ 5 * bb_1 ^ 2 + (0.12e2 - 0.4e1 * sin(om * t) ^ 2) * sin(om * t) ^ 3 + (0.32e2 * sin(om * t) ^ 3 * bb_1 ^ 2 + (0.12e2 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) + (0.16e2 * sin(om * t) * bb_1 ^ 2 - 0.4e1 * sin(om * t)) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 * bb_2 ^ 2 + ((0.12e2 * bb_1 ^ 2 - 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) ^ 3 + (0.8e1 - 0.8e1 * sin(om * t) ^ 2) * sin(om * t) + ((0.12e2 * bb_1 ^ 2 - 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2) * sin(om * t) - 0.8e1 * sin(om * t) - 0.4e1 * sin(om * t) * cos(om * t) ^ 2 * bb_1 ^ 2) * cos(om * t) ^ 2) * cos(om * t) * aa_F * m_b ^ 3 + ((-0.4e1 * sin(om * t) ^ 4 * bb_1 + (-0.8e1 * sin(om * t) ^ 2 * bb_1 - 0.4e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_2 ^ 2 + (0.4e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 2 + (0.4e1 + 0.8e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_2 + (-0.4e1 * sin(om * t) ^ 2 * bb_1 - 0.4e1 * bb_1 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3) * om) * om) * R ^ 2) * R ^ 2) * e) * e) / ((0.256e3 * JT + 0.256e3 * JB * bb_1 ^ 2 * sin(om * t) ^ 2) * JB ^ 2 + 0.256e3 * JB ^ 3 * sin(om * t) ^ 2 * bb_2 ^ 2 + (0.128e3 * m_b + 0.16e2 * m_t) * JB ^ 2 * l ^ 2 + (((0.64e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.64e2 * bb_1 ^ 2 * cos(om * t) ^ 2 + 0.64e2) * JT * m_b + ((0.64e2 + 0.64e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 4 + 0.64e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + (0.64e2 + 0.64e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 2 * cos(om * t) ^ 2) * m_b * JB) * JB + (((0.64e2 * sin(om * t) ^ 2 + 0.64e2 * cos(om * t) ^ 2) * JT * m_b + ((0.64e2 + 0.128e3 * bb_1 ^ 2) * sin(om * t) ^ 4 + 0.64e2 * sin(om * t) ^ 2 + (0.64e2 + 0.128e3 * bb_1 ^ 2) * sin(om * t) ^ 2 * cos(om * t) ^ 2) * m_b * JB) * JB + (0.64e2 * sin(om * t) ^ 4 + 0.64e2 * sin(om * t) ^ 2 * cos(om * t) ^ 2) * m_b * JB ^ 2 * bb_2 ^ 2) * bb_2 ^ 2 + (0.64e2 * m_b * JT + 0.64e2 * m_b * bb_1 ^ 2 * sin(om * t) ^ 2 * JB) * JB + 0.64e2 * m_b * JB ^ 2 * sin(om * t) ^ 2 * bb_2 ^ 2 + (((0.4e1 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * m_t + (0.16e2 + 0.32e2 * bb_1 ^ 2 * cos(om * t) ^ 2 + 0.32e2 * sin(om * t) ^ 2 * bb_1 ^ 2) * m_b) * m_b * JB + ((0.4e1 * sin(om * t) ^ 2 + 0.4e1 * cos(om * t) ^ 2) * m_t + (0.32e2 * cos(om * t) ^ 2 + 0.32e2 * sin(om * t) ^ 2) * m_b) * m_b * JB * bb_2 ^ 2 + (0.4e1 * m_t + 0.16e2 * m_b) * m_b * JB) * l ^ 2 + ((0.16e2 * sin(om * t) ^ 6 * bb_1 ^ 4 + 0.16e2 * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.32e2 * sin(om * t) ^ 4 * bb_1 ^ 4 + 0.16e2 * cos(om * t) ^ 2 * bb_1 ^ 4 * sin(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.16e2 * sin(om * t) ^ 2 + 0.16e2 * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.16e2 + 0.32e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.16e2 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * JT * m_b ^ 2 + ((0.32e2 + 0.16e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 6 + (0.16e2 + 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 4 + ((0.64e2 + 0.32e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 4 + (0.16e2 + 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 2 + (0.32e2 + 0.16e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.16e2 + 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 6 + 0.16e2 * sin(om * t) ^ 4 + ((0.32e2 + 0.32e2 * bb_1 ^ 2) * sin(om * t) ^ 4 + 0.16e2 * sin(om * t) ^ 2 + (0.16e2 + 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_2 ^ 2) * bb_2 ^ 2 + (0.16e2 + 0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.16e2 * bb_1 ^ 2 * cos(om * t) ^ 2) * JT * m_b ^ 2 + ((0.16e2 + 0.16e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 4 + 0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + (0.16e2 + 0.16e2 * bb_1 ^ 2) * bb_1 ^ 2 * sin(om * t) ^ 2 * cos(om * t) ^ 2) * m_b ^ 2 * JB + ((0.16e2 + 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 4 + 0.16e2 * sin(om * t) ^ 2 + (0.16e2 + 0.16e2 * bb_1 ^ 2) * sin(om * t) ^ 2 * cos(om * t) ^ 2) * m_b ^ 2 * JB * bb_2 ^ 2 + (((sin(om * t) ^ 2 + sin(om * t) ^ 4 * bb_1 ^ 2 + (0.1e1 + 0.2e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_t + (0.8e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 2 + (0.4e1 + 0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.8e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b) * m_b ^ 2 * bb_2 ^ 2 + ((sin(om * t) ^ 2 * bb_1 ^ 2 + 0.1e1 + bb_1 ^ 2 * cos(om * t) ^ 2) * m_t + (0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.4e1 * bb_1 ^ 2 * cos(om * t) ^ 2) * m_b) * m_b ^ 2) * l ^ 2 + (((0.4e1 * sin(om * t) ^ 6 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 8 * bb_1 ^ 4 + (0.8e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + 0.12e2 * sin(om * t) ^ 6 * bb_1 ^ 4 + (0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.12e2 * sin(om * t) ^ 4 * bb_1 ^ 4 + 0.4e1 * cos(om * t) ^ 2 * bb_1 ^ 4 * sin(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 + (0.4e1 * sin(om * t) ^ 8 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 6 + (0.8e1 * sin(om * t) ^ 4 + 0.12e2 * sin(om * t) ^ 6 * bb_1 ^ 2 + (0.4e1 * sin(om * t) ^ 2 + 0.12e2 * sin(om * t) ^ 4 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2 ^ 2) * bb_2 ^ 2 + (0.4e1 * sin(om * t) ^ 6 * bb_1 ^ 4 + 0.4e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.8e1 * sin(om * t) ^ 4 * bb_1 ^ 4 + 0.4e1 * cos(om * t) ^ 2 * bb_1 ^ 4 * sin(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 + (0.4e1 * sin(om * t) ^ 6 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 4 + (0.8e1 * sin(om * t) ^ 4 * bb_1 ^ 2 + 0.4e1 * sin(om * t) ^ 2 + 0.4e1 * sin(om * t) ^ 2 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * m_b ^ 3 * bb_2 ^ 2) * R ^ 2) * R ^ 2) * R ^ 2 + (((0.16e2 * sin(om * t) ^ 2 + 0.16e2 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3 * bb_2 ^ 2 + (-0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2 - 0.16e2 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) * m_b ^ 3) * l * R ^ 4 + (0.512e3 * JB ^ 2 * m_b * cos(om * t) ^ 2 + ((0.64e2 + 0.128e3 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.128e3 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * m_b ^ 2 * JB + (0.128e3 * sin(om * t) ^ 2 + 0.128e3 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * m_b ^ 2 * JB * bb_2 ^ 2 + 0.64e2 * m_b ^ 2 * JB * cos(om * t) ^ 2 + ((0.16e2 * sin(om * t) ^ 2 + 0.32e2 * sin(om * t) ^ 4 * bb_1 ^ 2 + (0.16e2 + 0.64e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.32e2 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2) * cos(om * t) ^ 2 * m_b ^ 3 * bb_2 ^ 2 + (0.16e2 * sin(om * t) ^ 2 * bb_1 ^ 2 + 0.16e2 * bb_1 ^ 2 * cos(om * t) ^ 2) * cos(om * t) ^ 2 * m_b ^ 3) * R ^ 2) * R ^ 2) * e) * e);
beta_1
> Matlab(bb_FF_1, resultname="bb_FF_1");
bb_FF_1 = -0.1e1 * (-0.4e1 * JB * aa_FF * cos(om * t) + m_b * R ^ 2 * sin(om * t) * om * cos(bb_1) ^ 2 * cos(om * t) ^ 2 * aa_F - 0.2e1 * m_b * R ^ 2 * aa_F ^ 2 * sin(om * t) ^ 2 * sin(bb_1) * cos(bb_1) * cos(om * t) ^ 2 + m_b * R ^ 2 * sin(om * t) ^ 3 * om * cos(bb_1) ^ 2 * aa_F + 0.2e1 * m_b * R * e * sin(om * t) ^ 3 * om * aa_F * cos(bb_1) - 0.1e1 * m_b * R ^ 2 * cos(bb_1) ^ 2 * aa_FF * cos(om * t) + R * m_b * l * aa_FF * cos(bb_1) - 0.1e1 * m_b * R ^ 2 * cos(om * t) ^ 3 * sin(bb_1) ^ 2 * aa_FF - 0.2e1 * m_b * aa_FF * cos(om * t) * R * cos(bb_1) * e + 0.2e1 * m_b * R * e * sin(om * t) * om * cos(bb_1) * cos(om * t) ^ 2 * aa_F + m_b * R ^ 2 * sin(bb_1) * aa_F ^ 2 * cos(om * t) ^ 2 * cos(bb_1) - 0.4e1 * JB * aa_F * sin(om * t) * sin(bb_1) ^ 2 * om - 0.1e1 * m_b * R * sin(bb_1) * l * aa_F ^ 2 * cos(om * t) + 0.2e1 * m_b * R * sin(bb_1) * e * cos(om * t) ^ 2 * aa_F ^ 2 + m_b * R ^ 2 * sin(om * t) ^ 2 * om ^ 2 * cos(bb_1) * sin(bb_1) + 0.2e1 * m_b * R * e * sin(om * t) ^ 2 * om ^ 2 * sin(bb_1) - 0.1e1 * m_b * R ^ 2 * sin(bb_1) ^ 2 * sin(om * t) ^ 2 * aa_FF * cos(om * t) + 0.4e1 * JB * cos(bb_1) ^ 2 * aa_F * sin(om * t) * om + m_b * R ^ 2 * cos(om * t) ^ 2 * om ^ 2 * cos(bb_1) * sin(bb_1) + 0.2e1 * m_b * R * e * cos(om * t) ^ 2 * om ^ 2 * sin(bb_1) + 0.2e1 * m_b * g_ * R * sin(bb_1) * cos(om * t) * cos(aa) - 0.2e1 * m_b * g_ * R * cos(bb_1) * sin(aa) + 0.4e1 * kb * bb_1 + 0.2e1 * m_b * aa_F * sin(om * t) * om * R * cos(bb_1) * e + m_b * R ^ 2 * cos(om * t) ^ 2 * sin(bb_1) * cos(bb_1) * bb_F_1 ^ 2 + 0.4e1 * JB * om ^ 2 * cos(bb_1) * sin(bb_1) + 0.4e1 * JB * aa_F * sin(om * t) * om - 0.4e1 * aa_F ^ 2 * sin(om * t) ^ 2 * sin(bb_1) * JB * cos(bb_1) - 0.1e1 * m_b * R ^ 2 * aa_F ^ 2 * sin(om * t) ^ 4 * sin(bb_1) * cos(bb_1) + m_b * R ^ 2 * cos(bb_1) ^ 2 * aa_F * sin(om * t) * om - 0.1e1 * m_b * R ^ 2 * cos(bb_1) * sin(bb_1) * bb_F_1 ^ 2 + m_b * R ^ 2 * sin(bb_1) * sin(om * t) ^ 2 * cos(bb_1) * bb_F_1 ^ 2 - 0.1e1 * m_b * R ^ 2 * cos(om * t) ^ 4 * sin(bb_1) * aa_F ^ 2 * cos(bb_1)) / (0.4e1 * JB + R ^ 2 * m_b * sin(om * t) ^ 2 * sin(bb_1) ^ 2 + R ^ 2 * m_b * cos(bb_1) ^ 2 + R ^ 2 * m_b * cos(om * t) ^ 2 * sin(bb_1) ^ 2);
> Matlab(eq_mo_beta1_FF_lin, resultname="bb_FF_1_lin");
bb_FF_1_lin = -0.1e1 * (-0.4e1 * JB * aa_FF * cos(om * t) + R * m_b * l * aa_FF + 0.4e1 * kb * bb_1 - 0.1e1 * m_b * R ^ 2 * aa_FF * cos(om * t) + 0.8e1 * JB * aa_F * sin(om * t) * om - 0.2e1 * m_b * R ^ 2 * aa_F ^ 2 * sin(om * t) ^ 2 * bb_1 * cos(om * t) ^ 2 + m_b * R ^ 2 * sin(om * t) ^ 3 * om * aa_F + 0.2e1 * m_b * g_ * R * bb_1 * cos(om * t) - 0.1e1 * m_b * R ^ 2 * aa_F ^ 2 * sin(om * t) ^ 4 * bb_1 - 0.4e1 * JB * aa_F * sin(om * t) * bb_1 ^ 2 * om - 0.4e1 * aa_F ^ 2 * sin(om * t) ^ 2 * bb_1 * JB + 0.2e1 * m_b * R * e * sin(om * t) ^ 3 * om * aa_F - 0.2e1 * m_b * aa_FF * cos(om * t) * R * e - 0.1e1 * m_b * R ^ 2 * cos(om * t) ^ 3 * bb_1 ^ 2 * aa_FF - 0.1e1 * m_b * R ^ 2 * bb_1 * bb_F_1 ^ 2 + 0.2e1 * m_b * R * e * sin(om * t) ^ 2 * om ^ 2 * bb_1 + m_b * R ^ 2 * bb_1 * aa_F ^ 2 * cos(om * t) ^ 2 + 0.2e1 * m_b * aa_F * sin(om * t) * om * R * e + m_b * R ^ 2 * cos(om * t) ^ 2 * bb_1 * bb_F_1 ^ 2 - 0.1e1 * m_b * R ^ 2 * cos(om * t) ^ 4 * bb_1 * aa_F ^ 2 + m_b * R ^ 2 * bb_1 * sin(om * t) ^ 2 * bb_F_1 ^ 2 + 0.2e1 * m_b * R * e * cos(om * t) ^ 2 * om ^ 2 * bb_1 - 0.1e1 * m_b * R * bb_1 * l * aa_F ^ 2 * cos(om * t) + m_b * R ^ 2 * sin(om * t) ^ 2 * om ^ 2 * bb_1 + 0.2e1 * m_b * R * e * sin(om * t) * om * cos(om * t) ^ 2 * aa_F - 0.2e1 * m_b * g_ * R * aa + m_b * R ^ 2 * sin(om * t) * om * cos(om * t) ^ 2 * aa_F + 0.2e1 * m_b * R * bb_1 * e * cos(om * t) ^ 2 * aa_F ^ 2 + 0.4e1 * JB * om ^ 2 * bb_1 - 0.1e1 * m_b * R ^ 2 * bb_1 ^ 2 * sin(om * t) ^ 2 * aa_FF * cos(om * t) + m_b * R ^ 2 * cos(om * t) ^ 2 * om ^ 2 * bb_1 + m_b * R ^ 2 * aa_F * sin(om * t) * om) / (0.4e1 * JB + R ^ 2 * m_b * sin(om * t) ^ 2 * bb_1 ^ 2 + R ^ 2 * m_b + R ^ 2 * m_b * cos(om * t) ^ 2 * bb_1 ^ 2);
beta_2
> Matlab(bb_FF_2, resultname="bb_FF_2");
bb_FF_2 = -0.1e1 * (0.4e1 * JB * aa_FF * cos(om * t) - 0.4e1 * JB * aa_F * sin(om * t) * om - 0.2e1 * m_b * aa_F * sin(om * t) * om * R * cos(bb_2) * e - 0.1e1 * m_b * R ^ 2 * cos(bb_2) * sin(bb_2) * bb_F_2 ^ 2 + m_b * R ^ 2 * sin(bb_2) * aa_F ^ 2 * cos(om * t) ^ 2 * cos(bb_2) - 0.1e1 * m_b * R ^ 2 * aa_F ^ 2 * sin(om * t) ^ 4 * sin(bb_2) * cos(bb_2) - 0.2e1 * m_b * R ^ 2 * aa_F ^ 2 * sin(om * t) ^ 2 * sin(bb_2) * cos(om * t) ^ 2 * cos(bb_2) - 0.1e1 * m_b * R ^ 2 * sin(om * t) ^ 3 * om * cos(bb_2) ^ 2 * aa_F - 0.1e1 * m_b * R ^ 2 * sin(om * t) * om * cos(bb_2) ^ 2 * aa_F * cos(om * t) ^ 2 - 0.2e1 * m_b * R * e * sin(om * t) ^ 3 * om * aa_F * cos(bb_2) - 0.2e1 * m_b * R * e * sin(om * t) * om * aa_F * cos(om * t) ^ 2 * cos(bb_2) - 0.4e1 * JB * sin(om * t) * om * aa_F * cos(bb_2) ^ 2 - 0.4e1 * aa_F ^ 2 * sin(om * t) ^ 2 * sin(bb_2) * JB * cos(bb_2) + 0.2e1 * m_b * R * e * cos(om * t) ^ 2 * om ^ 2 * sin(bb_2) + m_b * R ^ 2 * sin(om * t) ^ 2 * om ^ 2 * cos(bb_2) * sin(bb_2) + 0.2e1 * m_b * R * e * sin(om * t) ^ 2 * om ^ 2 * sin(bb_2) - 0.2e1 * m_b * g_ * R * sin(bb_2) * cos(om * t) * cos(aa) - 0.2e1 * m_b * g_ * R * cos(bb_2) * sin(aa) + m_b * R ^ 2 * aa_FF * sin(bb_2) ^ 2 * cos(om * t) ^ 3 + m_b * R ^ 2 * aa_FF * sin(bb_2) ^ 2 * cos(om * t) * sin(om * t) ^ 2 + 0.2e1 * m_b * aa_FF * cos(om * t) * R * cos(bb_2) * e + R * m_b * l * aa_FF * cos(bb_2) + m_b * R * sin(bb_2) * l * aa_F ^ 2 * cos(om * t) + 0.2e1 * m_b * R * sin(bb_2) * e * cos(om * t) ^ 2 * aa_F ^ 2 + m_b * R ^ 2 * sin(om * t) ^ 2 * sin(bb_2) * cos(bb_2) * bb_F_2 ^ 2 + m_b * R ^ 2 * cos(om * t) * aa_FF * cos(bb_2) ^ 2 + m_b * R ^ 2 * cos(om * t) ^ 2 * sin(bb_2) * cos(bb_2) * bb_F_2 ^ 2 + m_b * R ^ 2 * cos(om * t) ^ 2 * om ^ 2 * cos(bb_2) * sin(bb_2) - 0.1e1 * m_b * R ^ 2 * sin(om * t) * om * aa_F * cos(bb_2) ^ 2 + 0.4e1 * JB * aa_F * sin(om * t) * sin(bb_2) ^ 2 * om + 0.4e1 * kb * bb_2 - 0.1e1 * m_b * R ^ 2 * aa_F ^ 2 * cos(om * t) ^ 4 * sin(bb_2) * cos(bb_2) + 0.4e1 * JB * om ^ 2 * cos(bb_2) * sin(bb_2)) / (0.4e1 * JB + R ^ 2 * m_b * cos(om * t) ^ 2 * sin(bb_2) ^ 2 + R ^ 2 * m_b * sin(om * t) ^ 2 * sin(bb_2) ^ 2 + R ^ 2 * m_b * cos(bb_2) ^ 2);
> Matlab(eq_mo_beta2_FF_lin, resultname="bb_FF_2_lin");
bb_FF_2_lin = -0.1e1 * (0.4e1 * JB * aa_FF * cos(om * t) + R * m_b * l * aa_FF + m_b * R ^ 2 * aa_FF * cos(om * t) - 0.8e1 * JB * aa_F * sin(om * t) * om - 0.1e1 * m_b * R ^ 2 * sin(om * t) ^ 3 * om * aa_F - 0.2e1 * m_b * R * e * sin(om * t) ^ 3 * om * aa_F + 0.2e1 * m_b * aa_FF * cos(om * t) * R * e - 0.1e1 * m_b * R ^ 2 * bb_2 * bb_F_2 ^ 2 + m_b * R ^ 2 * bb_2 * aa_F ^ 2 * cos(om * t) ^ 2 - 0.1e1 * m_b * R ^ 2 * aa_F ^ 2 * sin(om * t) ^ 4 * bb_2 - 0.4e1 * aa_F ^ 2 * sin(om * t) ^ 2 * bb_2 * JB + 0.2e1 * m_b * R * e * cos(om * t) ^ 2 * om ^ 2 * bb_2 + m_b * R ^ 2 * sin(om * t) ^ 2 * om ^ 2 * bb_2 + 0.2e1 * m_b * R * e * sin(om * t) ^ 2 * om ^ 2 * bb_2 - 0.2e1 * m_b * g_ * R * bb_2 * cos(om * t) + m_b * R ^ 2 * aa_FF * bb_2 ^ 2 * cos(om * t) ^ 3 + m_b * R * bb_2 * l * aa_F ^ 2 * cos(om * t) + 0.2e1 * m_b * R * bb_2 * e * cos(om * t) ^ 2 * aa_F ^ 2 + m_b * R ^ 2 * sin(om * t) ^ 2 * bb_2 * bb_F_2 ^ 2 + m_b * R ^ 2 * cos(om * t) ^ 2 * bb_2 * bb_F_2 ^ 2 + m_b * R ^ 2 * cos(om * t) ^ 2 * om ^ 2 * bb_2 + 0.4e1 * JB * aa_F * sin(om * t) * bb_2 ^ 2 * om - 0.1e1 * m_b * R ^ 2 * aa_F ^ 2 * cos(om * t) ^ 4 * bb_2 + 0.4e1 * kb * bb_2 - 0.2e1 * m_b * aa_F * sin(om * t) * om * R * e - 0.2e1 * m_b * R * e * sin(om * t) * om * cos(om * t) ^ 2 * aa_F - 0.2e1 * m_b * g_ * R * aa - 0.1e1 * m_b * R ^ 2 * sin(om * t) * om * cos(om * t) ^ 2 * aa_F + m_b * R ^ 2 * aa_FF * bb_2 ^ 2 * cos(om * t) * sin(om * t) ^ 2 + 0.4e1 * JB * om ^ 2 * bb_2 - 0.1e1 * m_b * R ^ 2 * aa_F * sin(om * t) * om - 0.2e1 * m_b * R ^ 2 * aa_F ^ 2 * sin(om * t) ^ 2 * bb_2 * cos(om * t) ^ 2) / (0.4e1 * JB + R ^ 2 * m_b * cos(om * t) ^ 2 * bb_2 ^ 2 + R ^ 2 * m_b * sin(om * t) ^ 2 * bb_2 ^ 2 + R ^ 2 * m_b);
Equation