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   @   s  d dl m  mZ d dlZd dlZd dlZ	e
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d	 eD ejd  ejd Zed ggZee ee  ed < eejd  ed ggZde e de e  eejd  d < eeeee eeeee Zee d ded   Zee ejddd\ZZZeeeed gddZedd	 eD ejd  ejd Zedd	 e  D Z edd	 e! D ejd  ejd Z"e#dZ$e#dZ%e%&e$dee$jg e%&e$dej'd e$jg ejddd\Z(Z)Z*e(e%j e)e%j  e*e%j+  Z,e-dZ.e-dZ/e.0e/e(e%j  e,1e$Z,e.0e/e.2e/1e$ e%3e$e*e%j+  ee$4e% e/5e.e$e% e6de-de7dZ8e6de-de7dZ9e9j:5e8j:e$e% e/;e8j:e$e% e-dZ<e<=e$d  e#dZ>e?de<e>ede@e>je>je<fZAe-dZBeB=e$d  e#dZCe?d eBeCede@eCjeCjeBfZDejd!ddZEe8jFeEe$j  ZGe9jFeEe$j  ZHeAjFeEe$j  ZIeDjFeEe$j  ZJe
d"Z+ee%j ee%j+  Z,e.0e/ee%j ee%j   e,Kede+ ee+iZ,e.0e/e.2e/Kede+ ee+i d#ee e%j  ZLe8jFeEe$j  ee e%j  ZGdS )$    Nzx yza bT)real      c                 C      g | ]}|  qS  )expand.0ir   r   k/home/ubuntu/veenaModal/venv/lib/python3.10/site-packages/sympy/parsing/autolev/test-examples/ruletest10.py
<listcomp>       r   c                 C   s   g | ]}t |tqS r   )_smfactorxr   r   r   r   r      s       za b cc              
   C   s"   g | ]}| td tdtdiqS )r   r   r   )subsabcr   r   r   r   r      s   " c                 C   r   r   evalfr   r   r   r   r      r   c                 C   s   g | ]
}|d  d   qS )r   r   r   r   r   r   r   r      s    nr   Axiszc1 c2 c3opp1p1_ptmp2p2_ptb1_cmb1_fb1b2_cmb2_fb2gz)Msympy.physics.mechanicsphysics	mechanics_mesympyr   mathr   numpy_npdynamicsymbolsr   ysymbolsr   r   eMatrixreshaper   shaper   eqn
row_insertprintsolverhs_ycollectr   m2	eigenvalskeyseigvalue
eigenvectseigvecReferenceFrameframe_nframe_aorientpic1c2c3r(   vPointpoint_opoint_pset_posexpresspos_fromset_ang_vel
ang_vel_inv2pt_theoryParticleSymbolparticle_p1particle_p2pointa2pt_theory
body_b1_cmset_vel	body_b1_f	RigidBodyouterbody_b1
body_b2_cm	body_b2_fbody_b2r'   massforce_p1force_p2force_b1force_b2r   force_or   r   r   r   <module>   s~    ((&
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
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