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phi1dotdotclean
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phi1dotdotclean
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((((length2*mass2*cosphi1*cosphi1*sinphi1 + length2*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2 - (length2*mass2*cosphi1*cosphi1*cosphi1 + length2*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2 + (length2*mass2*cosphi1*cosphi1*sinphi1 + length2*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*sinphi2*sinphi2 - (length2*mass2*cosphi1*cosphi1*cosphi1 + length2*mass2*cosphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2)*costheta1*costheta1*vphi2*vphi2 + (length2*mass2*cosphi2*cosphi2*cosphi2*sinphi1 - length2*mass2*cosphi1*cosphi2*cosphi2*sinphi2 + length2*mass2*cosphi2*sinphi1*sinphi2*sinphi2 - length2*mass2*cosphi1*sinphi2*sinphi2*sinphi2)*sintheta1*sintheta1*vphi2*vphi2)*sintheta2*sintheta2*sintheta2 + 2*(((length1*mass1*cosphi1*cosphi1*cosphi1*cosphi1 + 2*length1*mass1*cosphi1*cosphi1*sinphi1*sinphi1 + length1*mass1*sinphi1*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2*cosphi2*vphi1 + 2*(length1*mass1*cosphi1*cosphi1*cosphi1*cosphi1 + 2*length1*mass1*cosphi1*cosphi1*sinphi1*sinphi1 + length1*mass1*sinphi1*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2*sinphi2*vphi1 + (length1*mass1*cosphi1*cosphi1*cosphi1*cosphi1 + 2*length1*mass1*cosphi1*cosphi1*sinphi1*sinphi1 + length1*mass1*sinphi1*sinphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2*sinphi2*vphi1)*costheta1*costheta1*costheta1 + (((length1*mass1 + length1*mass2)*cosphi1*cosphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2*cosphi2*vphi1 + 2*((length1*mass1 + length1*mass2)*cosphi1*cosphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2*sinphi2*vphi1 + ((length1*mass1 + length1*mass2)*cosphi1*cosphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2*sinphi2*vphi1)*costheta1*sintheta1*sintheta1)*costheta2*costheta2*vtheta1 - (4*((length1*mass2*cosphi1*cosphi1*cosphi1 + length1*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2*vphi1 + (length1*mass2*cosphi1*cosphi1*sinphi1 + length1*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2*vphi1 + (length1*mass2*cosphi1*cosphi1*cosphi1 + length1*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*sinphi2*sinphi2*vphi1 + (length1*mass2*cosphi1*cosphi1*sinphi1 + length1*mass2*sinphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2*vphi1)*costheta1*costheta1*sintheta1*vtheta1 - ((length1*mass2*cosphi1*cosphi1*sinphi1 + length1*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2*vphi1*vphi1 - (length1*mass2*cosphi1*cosphi1*cosphi1 + length1*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2*vphi1*vphi1 + (length1*mass2*cosphi1*cosphi1*sinphi1 + length1*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*sinphi2*sinphi2*vphi1*vphi1 - (length1*mass2*cosphi1*cosphi1*cosphi1 + length1*mass2*cosphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2*vphi1*vphi1)*costheta1*sintheta1*sintheta1 - ((g*mass2*cosphi1*cosphi1*sinphi1 + g*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2 - (g*mass2*cosphi1*cosphi1*cosphi1 + g*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2 + (g*mass2*cosphi1*cosphi1*sinphi1 + g*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*sinphi2*sinphi2 - (g*mass2*cosphi1*cosphi1*cosphi1 + g*mass2*cosphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2)*costheta1*costheta1 - (((length1*mass2*cosphi1*cosphi1*sinphi1 + length1*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2 - (length1*mass2*cosphi1*cosphi1*cosphi1 + length1*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2 + (length1*mass2*cosphi1*cosphi1*sinphi1 + length1*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*sinphi2*sinphi2 - (length1*mass2*cosphi1*cosphi1*cosphi1 + length1*mass2*cosphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2)*costheta1*costheta1*costheta1 + ((length1*mass2*cosphi1*cosphi1*sinphi1 + length1*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2 - (length1*mass2*cosphi1*cosphi1*cosphi1 + length1*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2 + (length1*mass2*cosphi1*cosphi1*sinphi1 + length1*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*sinphi2*sinphi2 - (length1*mass2*cosphi1*cosphi1*cosphi1 + length1*mass2*cosphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2)*costheta1*sintheta1*sintheta1)*vtheta1*vtheta1)*costheta2*sintheta2 + ((length1*mass2*cosphi1*cosphi2*cosphi2*sinphi1*vphi1*vphi1 - length1*mass2*cosphi1*sinphi1*sinphi2*sinphi2*vphi1*vphi1 - (length1*mass2*cosphi1*cosphi1 - length1*mass2*sinphi1*sinphi1)*cosphi2*sinphi2*vphi1*vphi1)*sintheta1*sintheta1*sintheta1 + (g*mass2*cosphi1*cosphi2*cosphi2*sinphi1 - g*mass2*cosphi1*sinphi1*sinphi2*sinphi2 - (g*mass2*cosphi1*cosphi1 - g*mass2*sinphi1*sinphi1)*cosphi2*sinphi2)*costheta1*sintheta1 + ((length1*mass2*cosphi1*cosphi2*cosphi2*sinphi1 - length1*mass2*cosphi1*sinphi1*sinphi2*sinphi2 - (length1*mass2*cosphi1*cosphi1 - length1*mass2*sinphi1*sinphi1)*cosphi2*sinphi2)*costheta1*costheta1*sintheta1 + (length1*mass2*cosphi1*cosphi2*cosphi2*sinphi1 - length1*mass2*cosphi1*sinphi1*sinphi2*sinphi2 - (length1*mass2*cosphi1*cosphi1 - length1*mass2*sinphi1*sinphi1)*cosphi2*sinphi2)*sintheta1*sintheta1*sintheta1)*vtheta1*vtheta1 + 2*((((length1*mass1 + length1*mass2)*cosphi1*cosphi1*cosphi1*cosphi1 + 2*(length1*mass1 + length1*mass2)*cosphi1*cosphi1*sinphi1*sinphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*vphi1 + ((length1*mass1 + length1*mass2)*cosphi1*cosphi1*cosphi1*cosphi1 + 2*(length1*mass1 + length1*mass2)*cosphi1*cosphi1*sinphi1*sinphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1*sinphi1*sinphi1)*sinphi2*sinphi2*vphi1)*costheta1*costheta1*costheta1 - (2*length1*mass2*cosphi1*cosphi2*sinphi1*sinphi2*vphi1 - (length1*mass1*cosphi1*cosphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1)*cosphi2*cosphi2*vphi1 - (length1*mass1*sinphi1*sinphi1 + (length1*mass1 + length1*mass2)*cosphi1*cosphi1)*sinphi2*sinphi2*vphi1)*costheta1*sintheta1*sintheta1)*vtheta1)*sintheta2*sintheta2 + ((((length2*mass2*cosphi1*cosphi1*sinphi1 + length2*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2 - (length2*mass2*cosphi1*cosphi1*cosphi1 + length2*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2 + (length2*mass2*cosphi1*cosphi1*sinphi1 + length2*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*sinphi2*sinphi2 - (length2*mass2*cosphi1*cosphi1*cosphi1 + length2*mass2*cosphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2)*costheta1*costheta1 + (length2*mass2*cosphi2*cosphi2*cosphi2*sinphi1 - length2*mass2*cosphi1*cosphi2*cosphi2*sinphi2 + length2*mass2*cosphi2*sinphi1*sinphi2*sinphi2 - length2*mass2*cosphi1*sinphi2*sinphi2*sinphi2)*sintheta1*sintheta1)*costheta2*costheta2*sintheta2 + (((length2*mass2*cosphi1*cosphi1*sinphi1 + length2*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2 - (length2*mass2*cosphi1*cosphi1*cosphi1 + length2*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2 + (length2*mass2*cosphi1*cosphi1*sinphi1 + length2*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*sinphi2*sinphi2 - (length2*mass2*cosphi1*cosphi1*cosphi1 + length2*mass2*cosphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2)*costheta1*costheta1 + (length2*mass2*cosphi2*cosphi2*cosphi2*sinphi1 - length2*mass2*cosphi1*cosphi2*cosphi2*sinphi2 + length2*mass2*cosphi2*sinphi1*sinphi2*sinphi2 - length2*mass2*cosphi1*sinphi2*sinphi2*sinphi2)*sintheta1*sintheta1)*sintheta2*sintheta2*sintheta2)*vtheta2*vtheta2)/(2*((length1*mass2*cosphi1*cosphi1*cosphi1 + length1*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2 + (length1*mass2*cosphi1*cosphi1*sinphi1 + length1*mass2*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2 + (length1*mass2*cosphi1*cosphi1*cosphi1 + length1*mass2*cosphi1*sinphi1*sinphi1)*cosphi2*sinphi2*sinphi2 + (length1*mass2*cosphi1*cosphi1*sinphi1 + length1*mass2*sinphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2)*costheta1*costheta2*sintheta1*sintheta1*sintheta2 - (((length1*mass1*cosphi1*cosphi1*cosphi1*cosphi1 + 2*length1*mass1*cosphi1*cosphi1*sinphi1*sinphi1 + length1*mass1*sinphi1*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2*cosphi2 + 2*(length1*mass1*cosphi1*cosphi1*cosphi1*cosphi1 + 2*length1*mass1*cosphi1*cosphi1*sinphi1*sinphi1 + length1*mass1*sinphi1*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2*sinphi2 + (length1*mass1*cosphi1*cosphi1*cosphi1*cosphi1 + 2*length1*mass1*cosphi1*cosphi1*sinphi1*sinphi1 + length1*mass1*sinphi1*sinphi1*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2*sinphi2)*costheta1*costheta1*sintheta1 + (((length1*mass1 + length1*mass2)*cosphi1*cosphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1)*cosphi2*cosphi2*cosphi2*cosphi2 + 2*((length1*mass1 + length1*mass2)*cosphi1*cosphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1)*cosphi2*cosphi2*sinphi2*sinphi2 + ((length1*mass1 + length1*mass2)*cosphi1*cosphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1)*sinphi2*sinphi2*sinphi2*sinphi2)*sintheta1*sintheta1*sintheta1)*costheta2*costheta2 - ((((length1*mass1 + length1*mass2)*cosphi1*cosphi1*cosphi1*cosphi1 + 2*(length1*mass1 + length1*mass2)*cosphi1*cosphi1*sinphi1*sinphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1*sinphi1*sinphi1)*cosphi2*cosphi2 + ((length1*mass1 + length1*mass2)*cosphi1*cosphi1*cosphi1*cosphi1 + 2*(length1*mass1 + length1*mass2)*cosphi1*cosphi1*sinphi1*sinphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1*sinphi1*sinphi1)*sinphi2*sinphi2)*costheta1*costheta1*sintheta1 - (2*length1*mass2*cosphi1*cosphi2*sinphi1*sinphi2 - (length1*mass1*cosphi1*cosphi1 + (length1*mass1 + length1*mass2)*sinphi1*sinphi1)*cosphi2*cosphi2 - (length1*mass1*sinphi1*sinphi1 + (length1*mass1 + length1*mass2)*cosphi1*cosphi1)*sinphi2*sinphi2)*sintheta1*sintheta1*sintheta1)*sintheta2*sintheta2)