Plot

bf694a9f-4594-445a-999f-dd1e46e6d72a 21 4 5 false false 0 decimal

&[DATE] &[TIME] - &[FILENAME]

Plot

1 xy T v PPlot ω ω.r r a b V m h.g I.w g 110 mat v : n T length : XY n 2 matrix : k 1 n range : c 12 range : 14 mat XY k c el T k el xy c el XY 1 k 1 - 12 mat max c el try : (2 n 1 - (range c el eval 31 line :

1 x 1 y T v PPlot t# xy t# x t# y 12 mat : t# xy T v PPlot 21 line :

t Id t 11 line :

k

T 08 0.1 range :

T length 81

values V r / V 0.32 / a 2^b 2^+ 2 / sqrt 5010020200 0.6 1.2 9.806 110 mat :

ω ω.r r a b V m h.g I.w g 110 mat

t x a a ω t * π 2 / + sin * - : t y b ω t * sin * : 21 sys

t x t y T values PPlot

Derivatives & slopes

t x' t x t diff :

t y' t y t diff :

t m t y' t x' / :

t x' ω π 2 ω * t * + 2 / cos * a * -

t x'' t x' t diff :

t y'' t y' t diff :

t slope t m atan :

t m ω t * cos b * π 2 ω * t * + 2 / cos a * / -

Curvature & Radious of curvature

t c t x' t y'' * t y' t x'' * - t x' 2^t y' 2^+ (3^sqrt / - :

t R.c 1 t c / :

t c ω 3^a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt / -

t Id t c T values PPlot t Id t R.c T values PPlot

t ψ' V t R.c / :

velocità di imbardata

in rad/sec per calcoli successivi

t Id t ψ' T values PPlot

t φ.id V 2^g t R.c * / atan :

t φ.id V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan -

t φ.Iw I.w ω.r * h.g / t φ.id cos t ψ' * m g * (2^m t R.c * t ψ' (2^* (2^+ sqrt / * :

t φ.Iw I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* h.g g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * / -

t φ t φ.id t φ.Iw + :

t φ' t φ t diff :

Now diff works for numerics

t φ' 3 ω * π 2 ω * t * + 2 / sin π 2 ω * t * + 2 / cos * a 2^* ω t * sin ω t * cos * b 2^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^V 2^ω 6^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 3^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g * V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan V 2^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * + (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* - (ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* V 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* - (g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* + (* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 2^* I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* m 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 4^h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 2^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* / -

velocità di rollio

t Id t φ T values PPlot t Id t φ' T values PPlot t Id t m T values PPlot t Id t ψ' T values PPlot t Id t φ' T values PPlot 2 1 sys

in rad/sec per calcoli successivi

t ψ π 2 / t m atan - :

andamento dell'angolo tra i due sistemi di riferimento (fisso e mobile) rispetto a t

t ψ π 2 ω t * cos b * π 2 ω * t * + 2 / cos a * / atan * + 2 /

t Id t ψ T values PPlot t Id t slope T values PPlot

coordinate traccia di mozzi nel sistema solidalle alla motocicletta

t x.m 0 : t y.m t ψ' V * t ψ' (2^t φ' (2^+ / : 21 sys

t Id t y.m T values PPlot

t y.m V 2^ω * a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 10^* h.g 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 6^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt V 2^ω 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 8^* h.g 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 6^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (2^* 9 π 2 ω * t * + 2 / sin π 2 ω * t * + 2 / cos * a 2^* ω t * sin ω t * cos * b 2^* + (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^V 2^ω 6^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 3^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g * V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan V 2^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * + (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* - (ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* V 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* - (g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* + (* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 2^* I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* m 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* - (2^* + (* / -

coordinate centro di curvatura nel sistema solidalle alla motocicletta

t x.t 0 : t y.t V t ψ' / : 21 sys

θ R θ cos θ sin - θ sin θ cos 22 mat :

t xy.M t x t y 21 mat t ψ R t x.m t y.m 21 mat * + :

t x t y T values PPlot t xy.M T values PPlot 2 1 sys

t y.t ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt ω 3^a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* / -

t xy.M a 1 π 2 ω * t * + 2 / sin - (ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * V 2^ω 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 8^* h.g 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 6^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (2^* 9 π 2 ω * t * + 2 / sin π 2 ω * t * + 2 / cos * a 2^* ω t * sin ω t * cos * b 2^* + (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^V 2^ω 6^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 3^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g * V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan V 2^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * + (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* - (ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* V 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* - (g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* + (* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 2^* I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* m 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* - (2^* + (* V 2^ω * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 10^* h.g 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 6^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (2^* π 2 ω t * cos b * π 2 ω * t * + 2 / cos a * / atan * + 2 / sin * + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt V 2^ω 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 8^* h.g 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 6^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (2^* 9 π 2 ω * t * + 2 / sin π 2 ω * t * + 2 / cos * a 2^* ω t * sin ω t * cos * b 2^* + (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^V 2^ω 6^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 3^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g * V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan V 2^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * + (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* - (ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* V 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* - (g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* + (* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 2^* I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* m 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* - (2^* + (* / b ω t * sin ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * V 2^ω 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 8^* h.g 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 6^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (2^* 9 π 2 ω * t * + 2 / sin π 2 ω * t * + 2 / cos * a 2^* ω t * sin ω t * cos * b 2^* + (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^V 2^ω 6^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 3^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g * V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan V 2^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * + (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* - (ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* V 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* - (g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* + (* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 2^* I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* m 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* - (2^* + (* V 2^ω * a * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 10^* h.g 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 6^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (2^* π 2 ω t * cos b * π 2 ω * t * + 2 / cos a * / atan * + 2 / cos * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt V 2^ω 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 8^* h.g 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 6^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (2^* 9 π 2 ω * t * + 2 / sin π 2 ω * t * + 2 / cos * a 2^* ω t * sin ω t * cos * b 2^* + (2^* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^V 2^ω 6^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 3^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g * V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan V 2^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * + (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* - (ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* V 4^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* - (g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 6^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* + (* m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt 2^* I.w ω.r * V * ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* V 2^ω 3^* a * b * π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (* g ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * / atan h.g * g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt * ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt * m 2^g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^/ sqrt * + (ω 12^* π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* m 2^* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* sqrt 2^* ω 6^a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* V 4^* + (* g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* V 4^ω 6^* a 2^* b 2^* π 2 ω * t * + 2 / cos ω t * sin * ω t * cos π 2 ω * t * + 2 / sin * - (2^* + g 2^ω 6^π 2 ω * t * + 2 / cos 2^a 2^* ω t * cos 2^b 2^* + (3^* 2 nthroot 2^* / sqrt 2^* - (2^* + (* / 21 mat

Notes

1.

You define twice ψ(t), check your integral

t ψ π 2 / t m atan - (:

t yy' t ψ t diff :

t Id t ψ' T values PPlot t Id t yy' T values PPlot 2 1 sys

Alvaro