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Z
 dd ZdS )    )cossinMatrixsymbols)dynamicsymbolsReferenceFramePointKanesMethodParticlec            "      C   s  t d\} }t ddd\}}t d\}}td\}}td}|dd| |jf}	|	d	d||jf}
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d||}td\}}|| ||  |j }|	|f|
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| fg}t|| |g||g|d}|||g|\}}| | ksJ || |||   |j }|	|f|
| fg}t|| |g||g|d}|||g|\}}| | ksJ || ||d   |j }|	|f|
| fg}t|| |g||g|d}|||g|\}}td|| ||d    g} | |  ksJ t|| |g||g|d}|||g|\}}t|| ||| d   | | ||| d   g}!| |! ksYJ d S )Nzq1, q2   )levelzu1, u2zl, mNAAxisBOr   PQApBpzsigma, delta)kd_eqs      )r   r   r   	orientnewzr   set_vel	locatenewxv2pt_theoryr
   r	   kanes_equationsr   r   r   mass_matrixexpandforcing)"q1q2qd1qd2u1u2lmr   r   r   r   r   r   r   r   sigdeltaTaforceskde1kde2KM1fr1fstar1KM2fr2fstar2forcing_matrix_expectedmass_matrix_expectedfr1_expectedfr2_expectedfr1_cubic_expectedfr2_cubic_expected r=   e/home/ubuntu/veenaModal/venv/lib/python3.10/site-packages/sympy/physics/mechanics/tests/test_kane4.pytest_replace_qdots_in_force   s   $
$
$r?   N)sympyr   r   r   r   sympy.physics.mechanicsr   r   r   r	   r
   r?   r=   r=   r=   r>   <module>   s    