function M = MatrizMasaMoto(q)
%MATRIZMASAMOTO
% M = MATRIZMASAMOTO(I2X,I2Y,I3X,I3Y,I3Z,I3ZX,I4X,I4XZ,I4Y,I4Z,I5X,I5Y,BET,EPS,GAM,M2,M3,M4,M5,NU,PHI,PSI,R2X,R2Z,R4X,R4Z,R5X,R5Z,TET,X3,X4,Z3,Z4)
global Parametr
I2x=Parametr(15);
I2y=Parametr(16);
I3x=Parametr(17);
I3y=Parametr(18);
I3z=Parametr(19);
I3zx=Parametr(20);
I4x=Parametr(21);
I4xz=Parametr(25);
I4y=Parametr(22);
I4z=Parametr(23);
I5x=Parametr(27);
I5y=Parametr(28);
bet=-Parametr(31);
x3=Parametr(5);
x4=Parametr(7);
z3=Parametr(6);
z4=Parametr(8);
m2=Parametr(11);
m3=Parametr(12);
m4=Parametr(13);
m5=Parametr(14);
r2x=Parametr(32);
r2z=Parametr(33);
r4x=Parametr(34);
r4z=Parametr(35);
r5x=Parametr(36);
r5z=Parametr(37);
phi=q(4);
psi=q(5);
tet=q(6);
gam=q(7);
eps=q(8);
nu=q(9);
% This function was generated by the Symbolic Math Toolbox version 5.6.
% 10-Apr-2014 13:31:58
t2 = sin(phi);
t3 = sin(tet);
t4 = cos(phi);
t5 = cos(tet);
t6 = sin(psi);
t7 = t2.*t3;
t14 = t4.*t5.*t6;
t8 = -t14+t7;
t9 = t2.*t5;
t10 = t3.*t4.*t6;
t11 = t10+t9;
t12 = cos(bet);
t13 = sin(bet);
t15 = r4x.*t11;
t16 = r4z.*t8;
t17 = t12.*t8;
t18 = t11.*t13;
t19 = t17+t18;
t20 = cos(gam);
t21 = t11.*t12;
t64 = t13.*t8;
t22 = t21-t64;
t23 = t20.*t22;
t24 = cos(psi);
t25 = sin(gam);
t26 = t24.*t25.*t4;
t27 = t23+t26;
t28 = t12.*t2.*t24.*t3;
t29 = t13.*t2.*t24.*t5;
t30 = t28+t29;
t31 = t20.*t30;
t181 = t2.*t25.*t6;
t32 = -t181+t31;
t33 = t13.*t2.*t24.*t3;
t34 = r4x.*t2.*t24.*t3;
t174 = t12.*t2.*t24.*t5;
t35 = -t174+t33;
t36 = t4.*t5;
t41 = t2.*t3.*t6;
t37 = t36-t41;
t38 = t3.*t4;
t39 = t2.*t5.*t6;
t40 = t38+t39;
t42 = r4z.*t37;
t43 = t12.*t37;
t48 = t13.*t40;
t44 = t43-t48;
t45 = t12.*t40;
t46 = t13.*t37;
t47 = t45+t46;
t49 = t25.*t44;
t50 = t2.*t20.*t24;
t51 = t49+t50;
t52 = m2+m3+m4+m5;
t53 = t20.*t44;
t101 = t2.*t24.*t25;
t54 = -t101+t53;
t55 = r4x.*t37;
t56 = r4z.*t40;
t57 = t12.*t24.*t3.*t4;
t58 = t13.*t24.*t4.*t5;
t59 = t57+t58;
t60 = t20.*t59;
t182 = t25.*t4.*t6;
t61 = -t182+t60;
t62 = t13.*t24.*t3.*t4;
t63 = r4x.*t24.*t3.*t4;
t65 = r4z.*t11;
t66 = t22.*t25;
t118 = t20.*t24.*t4;
t67 = -t118+t66;
t68 = t13.*t3.*t6;
t173 = t12.*t5.*t6;
t69 = -t173+t68;
t70 = t24.*t25;
t71 = t12.*t3.*t6;
t72 = t13.*t5.*t6;
t73 = t71+t72;
t74 = t20.*t73;
t75 = t70+t74;
t76 = r4x.*t3.*t6;
t77 = t12.*t24.*t3;
t78 = t13.*t24.*t5;
t79 = t77+t78;
t80 = r4x.*t24.*t5;
t81 = r4z.*t24.*t3;
t82 = t13.*t24.*t3;
t184 = t12.*t24.*t5;
t83 = -t184+t82;
t84 = t20.*t6;
t85 = t25.*t79;
t86 = t84+t85;
t87 = r5z.*t19;
t88 = r5x.*t27;
t89 = t15+t16+t87+t88;
t90 = t19.*z4;
t91 = t27.*x4;
t92 = t15+t16+t90+t91;
t93 = r2x.*t11;
t94 = r2z.*t8;
t95 = t93+t94;
t96 = t11.*x3;
t97 = t8.*z3;
t98 = t96+t97;
t99 = -m2.*t95-m3.*t98-m4.*t92-m5.*t89;
t100 = r5z.*t47;
t102 = r5x.*t54;
t103 = t100+t102+t55+t56;
t104 = m5.*t103;
t105 = t54.*x4;
t106 = t47.*z4;
t107 = t105+t106+t55+t56;
t108 = m4.*t107;
t109 = r2x.*t37;
t110 = r2z.*t40;
t111 = t109+t110;
t112 = m2.*t111;
t113 = t37.*x3;
t114 = t40.*z3;
t115 = t113+t114;
t116 = m3.*t115;
t117 = t104+t108+t112+t116;
t119 = t27.*t51;
t126 = t54.*t67;
t120 = t119-t126;
t208 = t11.*t40;
t209 = t37.*t8;
t121 = t208-t209;
t122 = cos(nu);
t123 = sin(nu);
t130 = t122.*t40;
t131 = t123.*t37;
t132 = t130+t131;
t136 = t122.*t8;
t137 = t11.*t123;
t138 = t136+t137;
t210 = t132.*t24.*t4;
t211 = t138.*t2.*t24;
t124 = t210+t211;
t133 = t11.*t122;
t134 = t123.*t8;
t135 = t133-t134;
t139 = t122.*t37;
t140 = t123.*t40;
t141 = t139-t140;
t190 = t141.*t24.*t4;
t191 = t135.*t2.*t24;
t125 = t190+t191;
t127 = t19.*t51;
t129 = t47.*t67;
t128 = t127-t129;
t192 = t132.*t135;
t193 = t138.*t141;
t142 = t192-t193;
t143 = cos(eps);
t144 = sin(eps);
t152 = t144.*t27;
t153 = t143.*t19;
t154 = t152+t153;
t155 = t144.*t54;
t156 = t143.*t47;
t157 = t155+t156;
t159 = t143.*t27;
t160 = t144.*t19;
t161 = t159-t160;
t162 = t143.*t54;
t163 = t144.*t47;
t164 = t162-t163;
t178 = t154.*t164;
t179 = t157.*t161;
t145 = -t178+t179;
t146 = t24.*t4.*t40;
t147 = t2.*t24.*t8;
t148 = t146+t147;
t149 = t24.*t37.*t4;
t150 = t11.*t2.*t24;
t151 = t149+t150;
t198 = t154.*t51;
t199 = t157.*t67;
t158 = t198-t199;
t224 = t161.*t51;
t225 = t164.*t67;
t165 = t224-t225;
t219 = t27.*t47;
t220 = t19.*t54;
t166 = -t219+t220;
t167 = I3x.*t148;
t238 = I3zx.*t151;
t168 = t167-t238;
t169 = t24.^2;
t170 = I4xz.*t128;
t171 = I4x.*t128;
t183 = t12.*t24.*t4.*t5;
t172 = -t183+t62;
t239 = I4xz.*t120;
t175 = t171-t239;
t176 = I3zx.*t148;
t177 = t176-I3z.*t151;
t180 = t174-t33;
t185 = t25.*t6;
t221 = t20.*t79;
t186 = t185-t221;
t187 = t2.*t24.*t3.*x3;
t188 = t61.*x4;
t189 = t183-t62;
t194 = t122.*t24.*t3;
t195 = t123.*t24.*t5;
t196 = t194+t195;
t197 = r5x.*t32;
t200 = t144.*t75;
t201 = t143.*t69;
t202 = t200+t201;
t203 = t143.*t189;
t314 = t144.*t61;
t204 = t203-t314;
t205 = t143.*t180;
t312 = t144.*t32;
t206 = t205-t312;
t207 = t32.*x4;
t212 = t123.*t3.*t6;
t325 = t122.*t5.*t6;
t213 = t212-t325;
t214 = t123.*t2.*t24.*t3;
t324 = t122.*t2.*t24.*t5;
t215 = t214-t324;
t216 = t123.*t24.*t3.*t4;
t323 = t122.*t24.*t4.*t5;
t217 = t216-t323;
t218 = r2x.*t24.*t3.*t4;
t222 = t24.*t3.*t4.*x3;
t223 = r2x.*t2.*t24.*t3;
t226 = t25.*t59;
t227 = t20.*t4.*t6;
t228 = t226+t227;
t229 = t25.*t30;
t230 = t2.*t20.*t6;
t231 = t229+t230;
t232 = t184-t82;
t233 = t143.*t186;
t234 = t20.*t24;
t244 = t144.*t232;
t235 = t233-t244;
t293 = t25.*t73;
t236 = t234-t293;
t237 = r5x.*t61;
t240 = t44.*z4;
t260 = r4x.*t40;
t435 = t20.*t47.*x4;
t241 = t240-t260+t42-t435;
t242 = t22.*z4;
t243 = t219-t220;
t245 = r2z.*t37;
t442 = r2x.*t40;
t246 = t245-t442;
t247 = r2z.*t11;
t248 = t40.*x3;
t401 = t37.*z3;
t249 = t248-t401;
t250 = t8.*x3;
t440 = t11.*z3;
t251 = t250-t440;
t252 = t178-t179;
t253 = t143.*t22;
t402 = t144.*t19.*t20;
t254 = t253-t402;
t255 = t143.*t79;
t256 = t144.*t20.*t232;
t257 = t255+t256;
t258 = t143.*t44;
t404 = t144.*t20.*t47;
t259 = t258-t404;
t261 = r5z.*t44;
t262 = r5z.*t22;
t263 = t170-I4z.*t120;
t264 = t233-t244;
t265 = t135.^2;
t266 = t141.^2;
t267 = t196.^2;
t268 = t265+t266+t267;
t269 = I2y.*t142.*t268;
t270 = t196.*t6;
t271 = t141.*t2.*t24;
t412 = t135.*t24.*t4;
t272 = t270+t271-t412;
t317 = t2.*t24.*t5.*z3;
t273 = t187-t317;
t276 = r4z.*t2.*t24.*t5;
t333 = t180.*z4;
t274 = t207-t276-t333+t34;
t349 = r2z.*t2.*t24.*t5;
t275 = t223-t349;
t278 = r4z.*t24.*t4.*t5;
t353 = r5z.*t189;
t277 = t237-t278-t353+t63;
t343 = r2z.*t24.*t4.*t5;
t279 = m2.*(t218-t343);
t348 = t24.*t4.*t5.*z3;
t441 = t222-t348;
t280 = m3.*t441;
t281 = r5z.*t69;
t282 = r5x.*t75;
t287 = r4z.*t5.*t6;
t283 = t281+t282-t287+t76;
t284 = m5.*t283;
t285 = t69.*z4;
t286 = t75.*x4;
t288 = r2x.*t3.*t6;
t379 = r2z.*t5.*t6;
t431 = t288-t379;
t289 = m2.*t431;
t290 = t3.*t6.*x3;
t382 = t5.*t6.*z3;
t439 = t290-t382;
t291 = m3.*t439;
t292 = t180.*t51;
t294 = t186.*t236;
t295 = t231.*t54;
t300 = t228.*t27;
t296 = t294+t295-t300;
t297 = t189.*t67;
t298 = t69.*t86;
t299 = -t292+t297+t298;
t301 = t169.*t3;
t302 = t11.*t4.*t6;
t311 = t2.*t37.*t6;
t303 = t301+t302-t311;
t304 = t6.^2;
t305 = t304.*t5;
t306 = t4.^2;
t307 = t169.*t306.*t5;
t308 = t2.^2;
t309 = t169.*t308.*t5;
t310 = t305+t307+t309;
t313 = t164.*t206;
t315 = t202.*t235;
t356 = t161.*t204;
t316 = t313+t315-t356;
t386 = t189.*z4;
t318 = t188-t278-t386+t63;
t319 = t196.*t24;
t320 = t135.*t4.*t6;
t378 = t141.*t2.*t6;
t321 = t319+t320-t378;
t322 = I2x.*t125.*t321;
t326 = t196.*t213;
t327 = t141.*t215;
t376 = t135.*t217;
t328 = t326+t327-t376;
t369 = r5z.*t180;
t329 = t197-t276+t34-t369;
t330 = t202.*t86;
t331 = t204.*t67;
t366 = t206.*t51;
t408 = t330+t331-t366;
t332 = I5x.*t158.*t408;
t334 = m4.*t274.*t92;
t335 = t2.*t24.*t37.*t5;
t336 = t24.*t3.*t5.*t6;
t387 = t11.*t24.*t4.*t5;
t337 = t335+t336-t387;
t338 = I3y.*t121.*t337;
t339 = t213.*t6;
t340 = t2.*t215.*t24;
t341 = t217.*t24.*t4;
t413 = t339+t340+t341;
t342 = I2x.*t124.*t413;
t344 = t186.*t69;
t345 = t180.*t54;
t375 = t189.*t27;
t346 = t344+t345-t375;
t347 = I4y.*t243.*t346;
t350 = t164.*t231;
t351 = t235.*t236;
t384 = t161.*t228;
t352 = t350+t351-t384;
t354 = m5.*t103.*t277;
t355 = t339+t340+t341;
t417 = t202.*(t233-t244);
t357 = t313-t356+t417;
t358 = I4x.*t299;
t359 = I4xz.*(t294+t295-t300);
t360 = t358+t359;
t361 = t218-t343;
t362 = t222-t348;
t363 = I3z.*t303;
t364 = I3zx.*t310;
t365 = t363+t364;
t367 = t330+t331-t366;
t368 = t223-t349;
t370 = I3zx.*t303;
t371 = I3x.*t310;
t372 = t370+t371;
t373 = t187-t317;
t374 = t285+t286-t287+t76;
t416 = t141.*(t214-t324);
t377 = t326-t376+t416;
t380 = t288-t379;
t381 = I4xz.*t299;
t383 = t290-t382;
t434 = (t233-t244).*(t234-t293);
t385 = t350-t384+t434;
t388 = I4z.*(t294+t295-t300);
t389 = t381+t388;
t390 = t25.*t47.*t54;
t391 = t186.*t232.*t25;
t392 = t19.*t25.*t27;
t393 = t390+t391+t392;
t394 = t22.*t67;
t395 = t44.*t51;
t396 = t79.*t86;
t397 = t394+t395+t396;
t398 = t2.*t24.*t37;
t399 = t24.*t3.*t6;
t478 = t11.*t24.*t4;
t400 = t398+t399-t478;
t403 = t254.*t67;
t405 = t259.*t51;
t406 = t257.*t86;
t407 = t403+t405+t406;
t409 = t22.*t27;
t410 = t44.*t54;
t474 = t186.*t79;
t411 = t409+t410-t474;
t414 = r5z.*t79;
t415 = t79.*z4;
t418 = t161.*t254;
t419 = t164.*t259;
t482 = t235.*t257;
t420 = t418+t419-t482;
t421 = t11.^2;
t422 = t37.^2;
t423 = t3.^2;
t424 = t169.*t423;
t425 = t421+t422+t424;
t426 = r5x.*t20.*t47;
t427 = t260-t261-t42+t426;
t428 = r2x.*t24.*t5;
t429 = r2z.*t24.*t3;
t430 = t428+t429;
t432 = t161.*t19.*t25;
t433 = t164.*t25.*t47;
t436 = t24.*t5.*x3;
t437 = t24.*t3.*z3;
t438 = t436+t437;
t443 = t186.^2;
t444 = t27.^2;
t445 = t54.^2;
t446 = t443+t444+t445;
t447 = t86.^2;
t448 = t144.*t447;
t449 = t67.^2;
t450 = t144.*t449;
t451 = t51.^2;
t452 = t144.*t451;
t453 = t448+t450+t452;
t454 = t144.*t161.*t67;
t455 = t144.*t164.*t51;
t502 = t144.*t235.*t86;
t456 = t454+t455-t502;
t457 = t164.*t54;
t458 = t186.*(t233-t244);
t459 = t161.*t27;
t460 = t457+t458+t459;
t461 = t164.*t51;
t462 = t161.*t67;
t505 = t235.*t86;
t463 = t461+t462-t505;
t464 = t233-t244;
t465 = t161.^2;
t466 = t164.^2;
t468 = r4x.*t8;
t484 = r5x.*t19.*t20;
t503 = t262-t468-t484+t65;
t467 = m5.*t503;
t480 = r2x.*t8;
t469 = m2.*(t247-t480);
t470 = r5x.*t20.*t232;
t471 = t414+t470+t80+t81;
t472 = t20.*t232.*x4;
t473 = t415+t472+t80+t81;
t475 = I4y.*t243.*t411;
t476 = t232.*t25.*(t233-t244);
t477 = t432+t433+t476;
t479 = I3y.*t121.*t425;
t481 = m3.*t249.*t98;
t483 = m5.*t427.*t89;
t485 = I4x.*t397;
t498 = I4xz.*t393;
t486 = t485-t498;
t487 = I4xz.*t397;
t497 = I4z.*t393;
t488 = t487-t497;
t489 = m3.*t249.*(t187-t317);
t490 = I4y.*t346.*t411;
t491 = I5y.*t357.*t420;
t492 = I3y.*t337.*t425;
t493 = m5.*t329.*t427;
t494 = I5x.*t385.*t477;
t495 = t245-t442;
t496 = t247-t480;
t499 = t262-t468-t484+t65;
t500 = t240-t260+t42-t435;
t504 = t19.*t20.*x4;
t501 = t242-t468-t504+t65;
t506 = t233-t244;
t507 = t268.^2;
t508 = I2y.*t507;
t509 = t272.^2;
t510 = I2x.*t509;
t511 = -m5.*r5x.*t51-m4.*t51.*x4;
t512 = -m5.*r5x.*t67-m4.*t67.*x4;
t513 = m5.*r5x.*t86;
t514 = m4.*t86.*x4;
t515 = t513+t514;
t516 = I5x.*t158.*t453;
t517 = I5x.*t165.*t460;
t518 = I5y.*t252.*t456;
t519 = m5.*r5x.*t51.*t89;
t520 = m4.*t51.*t92.*x4;
t521 = I5x.*t453.*(t330+t331-t366);
t522 = m5.*r5x.*t283.*t86;
t523 = m4.*t374.*t86.*x4;
t524 = m5.*r5x.*t329.*t51;
t525 = m4.*t274.*t51.*x4;
t526 = m5.*r5x.*t427.*t51;
t527 = r5x.^2;
t528 = x4.^2;
t529 = t233-t244;
t530 = t233-t244;
t531 = t233-t244;
t532 = I5x.*t407.*t463;
t533 = t233-t244;
t534 = t233-t244;
t535 = t233-t244;
t536 = t465+t466+t535.^2;
t537 = t269-I2x.*t124.*t272;
t538 = -I2y.*t268.*t377-I2x.*t272.*t413;
t539 = t508+t510;
M = reshape([t52,0.0,0.0,t99,-m2.*t275-m3.*t273-m4.*t274-m5.*t329,-m3.*t249-m5.*t427+m2.*(t245-t442)+m4.*(t240-t260+t42-t435),t511,0.0,0.0,0.0,t52,0.0,t117,t279+t280+m4.*t318+m5.*t277,t467+t469-m3.*t251+m4.*(t242-t468+t65-t19.*t20.*x4),t512,0.0,0.0,0.0,0.0,t52,0.0,t284+t289+t291+m4.*t374,-m2.*t430-m3.*t438-m4.*t473-m5.*t471,t515,0.0,0.0,t99,t117,0.0,t148.*t168-t151.*t177-t120.*t263+t175.*(t127-t129)+I2x.*t124.^2+I2x.*t125.^2+I2y.*t142.^2+I3y.*t121.^2+I4y.*t166.^2+I5y.*t145.^2+I5x.*t158.^2+I5x.*t165.^2+m2.*t111.^2+m3.*t115.^2+m4.*t107.^2+m5.*t103.^2+m2.*t95.^2+m3.*t98.^2+m4.*t92.^2+m5.*t89.^2,t322+t332+t334+t338+t342+t347+t354+t151.*t365-t148.*t372+t360.*(t127-t129)-t120.*(t381+I4z.*t296)-I2y.*t142.*t328-I5x.*t165.*t352-I5y.*t252.*t316+m4.*t107.*t318+m5.*t329.*t89+m2.*t111.*(t218-t343)+m3.*t115.*(t222-t348)+m2.*t95.*(t223-t349)+m3.*t98.*(t187-t317),t269+t475+t479+t481+t483+t120.*t488-t128.*t486+m4.*t107.*(t242-t468+t65-t19.*t20.*x4)+m5.*t103.*(t262-t468-t484+t65)-I2x.*t124.*t272-I3x.*t148.*t400+I3zx.*t151.*t400-I5x.*t158.*t407-I5x.*t165.*t477-I5y.*t252.*t420-m3.*t115.*t251-m2.*t246.*t95-m4.*t241.*t92+m2.*t111.*(t247-t480),t516+t517+t518+t519+t520-I4xz.*t128.*t446+I4z.*t120.*t446-m5.*r5x.*t103.*t67-m4.*t107.*t67.*x4,-I5y.*t252.*(t465+t466+t530.^2)-I5x.*t158.*t463,t537,-m2.*t275-m3.*t273-m5.*(t197+t34+r5z.*t35-r4z.*t2.*t24.*t5)-m4.*(t207+t34+t35.*z4-r4z.*t2.*t24.*t5),t279+t280+m5.*(t237+t63+r5z.*t172-r4z.*t24.*t4.*t5)+m4.*(t188+t63+t172.*z4-r4z.*t24.*t4.*t5),t284+t289+t291+m4.*(t285+t286+t76-r4z.*t5.*t6),t322+t332+t334+t338+t342+t347+t354-t175.*(t292+t172.*t67-t69.*t86)-t168.*t310-t177.*t303+t263.*t296+m4.*t107.*(t188+t63-t189.*z4-r4z.*t24.*t4.*t5)+m2.*t111.*(t218-r2z.*t24.*t4.*t5)+m3.*t115.*(t222-t24.*t4.*t5.*z3)-I2y.*t142.*t328-I5x.*t165.*t352-I5y.*t252.*t316+m2.*t275.*t95+m3.*t273.*t98+m5.*t89.*(t197+t34-r5z.*t180-r4z.*t2.*t24.*t5),t299.*t360+t303.*t365+t310.*t372+I2x.*t321.^2+I2x.*t355.^2+I2y.*t377.^2+I3y.*t337.^2+I4y.*t346.^2+I5x.*t367.^2+I5y.*t357.^2+I5x.*t385.^2+m2.*t361.^2+m2.*t368.^2+m2.*t380.^2+m3.*t362.^2+m3.*t373.^2+m4.*t274.^2+m3.*t383.^2+m4.*t318.^2+m4.*t374.^2+m5.*t277.^2+m5.*t283.^2+m5.*t329.^2+t389.*(t294+t295-t300),t489+t490+t491+t492+t493+t494-t296.*t488-t299.*t486+m2.*(t218-t343).*(t247-t480)+m4.*t318.*(t242-t468+t65-t19.*t20.*x4)+m5.*t277.*(t262-t468-t484+t65)-I2y.*t268.*t377-I2x.*t272.*t413+I3x.*t310.*t400+I3zx.*t303.*t400-I5x.*t407.*t408-m2.*t246.*t275-m4.*t241.*t274-m3.*t251.*t441-m2.*t430.*t431-m3.*t438.*t439-m4.*t374.*t473-m5.*t283.*t471,t521+t522+t523+t524+t525-I4xz.*t299.*t446-I4z.*t296.*t446-I5y.*t357.*t456-I5x.*t385.*t460-m5.*r5x.*t277.*t67-m4.*t318.*t67.*x4,I5y.*t357.*(t465+t466+t531.^2)-I5x.*t408.*t463,t538,m5.*(t261+t42-r4x.*t40-r5x.*t20.*t47)+m2.*t246-m3.*t249+m4.*t241,t467+t469+m4.*(t242+t65-r4x.*t8-t19.*t20.*x4)-m3.*t251,-m2.*t430-m3.*t438-m5.*(t414+t80+t81-r5x.*t20.*t83)-m4.*(t415+t80+t81-t20.*t83.*x4),t269+t475+t479+t481+t483-t175.*t397-t168.*t400+t263.*t393-I5x.*t165.*(t432+t433+t232.*t235.*t25)+m2.*t111.*(t247-r2x.*t8)+m5.*t103.*(t262+t65-r4x.*t8-r5x.*t19.*t20)+m4.*t107.*(t242+t65-r4x.*t8-t19.*t20.*x4)-I2x.*t124.*t272-I5x.*t158.*t407-I5y.*t252.*t420-m3.*t115.*t251-m2.*t246.*t95-m4.*t241.*t92,t489+t490+t491+t492+t493+t494-t360.*t397+t389.*t393+t372.*t400+m5.*t277.*(t262+t65-r4x.*t8-r5x.*t19.*t20)+m2.*(t247-r2x.*t8).*(t218-t343)+m4.*t318.*(t242+t65-r4x.*t8-t19.*t20.*x4)-I2y.*t268.*t377-I2x.*t272.*t413-I5x.*t407.*t408-m2.*t246.*t275-m4.*t241.*t274-m3.*t251.*t441-m2.*t430.*t431-m3.*t438.*t439-m4.*t374.*t473-m5.*t283.*t471,t508+t510-t393.*t488+t397.*(t485-t498)+I3x.*t400.^2+I3y.*t425.^2+I4y.*t411.^2+I5x.*t407.^2+I5y.*t420.^2+I5x.*t477.^2+m3.*t249.^2+m3.*t251.^2+m2.*t430.^2+m2.*t495.^2+m2.*t496.^2+m3.*t438.^2+m4.*t473.^2+m4.*t500.^2+m4.*t501.^2+m5.*t427.^2+m5.*t471.^2+m5.*t499.^2,t526+I4xz.*t397.*t446-I4z.*t393.*t446-I5x.*t407.*t453-I5y.*t420.*t456-I5x.*t460.*t477-m5.*r5x.*t503.*t67-m5.*r5x.*t471.*t86-m4.*t241.*t51.*x4-m4.*t501.*t67.*x4-m4.*t473.*t86.*x4,t532+I5y.*t420.*(t465+t466+t533.^2),t539,t511,t512,t515,t516+t517+t518+t519+t520-t263.*t446-m5.*r5x.*t103.*t67-m4.*t107.*t67.*x4,t521+t522+t523+t524+t525-t389.*t446-I5y.*t357.*t456-I5x.*t385.*t460-m5.*r5x.*t277.*t67-m4.*t318.*t67.*x4,t526+t446.*(t487-t497)-I5x.*t407.*t453-I5y.*t420.*t456-I5x.*t460.*t477-m5.*r5x.*t503.*t67-m5.*r5x.*t471.*t86-m4.*t241.*t51.*x4-m4.*t501.*t67.*x4-m4.*t473.*t86.*x4,I4z.*t446.^2+I5x.*t453.^2+I5x.*t460.^2+I5y.*t456.^2+m4.*t447.*t528+m4.*t449.*t528+m4.*t451.*t528+m5.*t447.*t527+m5.*t449.*t527+m5.*t451.*t527,-I5y.*t456.*(t465+t466+t534.^2)-I5x.*t453.*t463,0.0,0.0,0.0,0.0,-I5y.*t252.*(t465+t466+t264.^2)-I5x.*t158.*t463,I5y.*t357.*(t465+t466+t464.^2)-I5x.*t408.*t463,t532+I5y.*t420.*(t465+t466+t506.^2),-I5y.*t456.*(t465+t466+t529.^2)-I5x.*t453.*t463,I5x.*t463.^2+I5y.*t536.^2,0.0,0.0,0.0,0.0,t537,t538,t539,0.0,0.0,t539],[9, 9]);
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
