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Z
 d Zy)    )cossinMatrixsymbols)dynamicsymbolsReferenceFramePointKanesMethodParticlec                  8
   t        d      \  } }t        dd      \  }}t        d      \  }}t        d      \  }}t        d      }|j                  dd| |j                  f      }	|	j                  d	d||j                  f      }
t        d
      }|j                  |d       |j                  d||	j                  z        }|j                  |||	       |j                  d||
j                  z        }|j                  |||
       t        d||      }t        d||      }t        d      \  }}||z  ||z  z   |j                  z  }|	|f|
| fg}||z
  ||z
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  |||z   z
  g}t        || |g||g|      }|j                  ||g|      \  }}t        || |g||g|      }|j                  ||g|      \  }}t        ||dz  z  t        |      z  |dz  z  ||z  z   |||z
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  |||z
  z  z
  gg      }t        d|z  |dz  z  ||dz  z  t        |      z  g||dz  z  t        |      z  ||dz  z  gg      }|j                   j#                         |j#                         k(  sJ |j$                  j#                         |j#                         k(  sJ t        d||z  ||z  z    g      }|j#                         |j#                         k(  sJ t        ||z  |||z
  z  z   | |z  |||z
  z  z
  g      }|j#                         |j#                         k(  sJ ||z  ||z  z   |j                  z  }|	|f|
| fg}t        || |g||g|      }|j                  ||g|      \  }}|j#                         |j#                         k(  sJ ||z  |||z
  z  z   |j                  z  }|	|f|
| fg}t        || |g||g|      }|j                  ||g|      \  }}|j#                         |j#                         k(  sJ ||z  ||dz  z  z   |j                  z  }|	|f|
| fg}t        || |g||g|      }|j                  ||g|      \  }}t        d||z  ||dz  z  z    g      } |j#                         | j#                         k(  sJ t        || |g||g|      }|j                  ||g|      \  }}t        ||z  |||z
  dz  z  z   | |z  |||z
  dz  z  z
  g      }!|j#                         |!j#                         k(  sJ y )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_expecteds"                                     ~/var/www/pru.catia.catastroantioquia-mas.com/valormas/lib/python3.12/site-packages/sympy/physics/mechanics/tests/test_kane4.pytest_replace_qdots_in_forcer@      s    H%FBha0HCH%FB6?DAqsA	C"acc+A	C"acc+Ac
AIIaO	C1qss7%AMM!Q	C1qss7%AMM!Q	$1	B	$1	B (JC
(US[
 ACC	'B"gB3x F Hb3hDHbC#I&'D
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a"bB8D
9C%%r2h7KC
 %!ad(SW*<r1u*DsRx*O*/27*;+< )=*+ad(SW*<Av*Eb*P*/27*;+< )='? A "q1uq!t|QAXB5G%I&'!Q$hR&8!ad($D$G I OO""$(<(C(C(EEFEKK $;$B$B$DDED AR%"*!4578L::<<..0000 38erBw&77!EBJ"r')::< =L::<<..0000 (URZ
133	&B"gB3x F
a"bB8D
9C%%r2h7KC::<<..0000
(Ube_
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a"bB8D
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a"bB8D
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a"bB8D
9C%%r2h7KCrER"WqL,@!@!EBJ"r'A)==!? @ ::<-446666    N)sympyr   r   r   r   sympy.physics.mechanicsr   r   r	   r
   r   r@    rA   r?   <module>rE      s    - -? ?h7rA   