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ddd\ZZZZed\ZZZZedd\ZZZZedd	\ZZed
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dZ1e1e&_0de/ d	e+ d	  Z2e2Z3d Z4de1 ed	  Z5de1 ed	 ed	   Z6de1 ed	  Z7e8ee2e3e4d d d efe#_8e8e%e5e6e7d d d e$fe&_8e#j0eej)  Z9e&j0eej)  Z:ee ee gZ;e#j<e#j0eej)  fe&j<e&j0eej)  fgZ=ej>eeegeege;dZ?e?@e#e&ge=\ZAZBeAeB ZCd dlDmEZE eEe?edededede/de1dii ee	Fdee	Fded ed ie	Gdd d!d"ZHeHI Z(dS )#    Nzg lb w hT)realztheta phi omega alphaztheta_ phi_ omega_ alpha_   ztheta_ phi_   na_cma_famb_cmb_fbAxisomambgUUUUUU?)q_indu_indkd_eqs)SystemgQ#@g?g?g{Gz?Z   g      ?g        
   g     @@)	constants
specifiedsinitial_conditionstimes)Jsympy.physics.mechanicsphysics	mechanics_mesympy_smmathr	   numpy_npsymbolsglbwhdynamicsymbolsthetaphiomegaalphatheta_dphi_domega_dalpha_dtheta_ddphi_ddReferenceFrameframe_nPoint	body_a_cmset_velbody_a_f	RigidBodyouterxbody_a	body_b_cmbody_b_fbody_borientyzpoint_olaset_posset_ang_velv2pt_theoryr   massr   iaxxiayyiazzibxxibyyibzzinertiaforce_aforce_br   
masscenter	forceListKanesMethodkanekanes_equationsfrfrstarzeropydy.systemr   deg2radlinspacesys	integrate r`   r`   k/tmp/pip-target-vg8gfxp4/lib/python/sympy/parsing/autolev/test-examples/pydy-example-repo/chaos_pendulum.py<module>   sl    
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