Starting...
[8.72s (+8.72s)] Kinetic energy expression calculated.

m*(dx**2*(psi_dot**2*cos(theta)**2 + theta_dot**2) + dy**2*(phi_dot**2 - 2*phi_dot*psi_dot*sin(theta) + psi_dot**2*sin(phi)**2*sin(theta)**2 - psi_dot**2*sin(phi)**2 + psi_dot**2 - psi_dot*theta_dot*(sin(2*phi - theta) + sin(2*phi + theta))/2 + theta_dot**2*sin(phi)**2) + dz**2*(phi_dot**2 - 2*phi_dot*psi_dot*sin(theta) - psi_dot**2*cos(phi)**2*cos(theta)**2 + psi_dot**2 + psi_dot*theta_dot*(sin(2*phi - theta) + sin(2*phi + theta))/2 + theta_dot**2*cos(phi)**2))/6
[11.08s (+2.36s)] Derivative of phi(t) calculated.

[11.83s (+0.75s)] Derivative of time calculated.

[12.47s (+0.64s)] Derivative of theta(t) calculated.

[20.86s (+8.38s)] Derivative of time calculated.

[22.23s (+1.38s)] Derivative of psi(t) calculated.

[44.21s (+21.97s)] Derivative of time calculated.

[44.21s (+0.00s)] System of equations calculated.

[77.23s (+33.02s)] Derivative(phi(t), (t, 2)) = 16*dx**4*sin(theta(t))*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**4*cos(theta(t))**3*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dx**2*dy**2*sin(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 32*dx**2*dy**2*sin(phi(t))*sin(theta(t))**3*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dy**2*sin(2*phi(t))*sin(theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dx**2*dy**2*sin(theta(t))*sin(2*theta(t))*cos(2*phi(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dy**2*sin(theta(t))*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dy**2*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dx**2*dy**2*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dy**2*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dx**2*dy**2*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dy**2*sin(theta(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**3*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dy**2*cos(theta(t))**3*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dy**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 32*dx**2*dz**2*sin(phi(t))*sin(theta(t))*cos(phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 32*dx**2*dz**2*sin(theta(t))**2*cos(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dz**2*sin(theta(t))*sin(2*theta(t))*cos(2*phi(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dz**2*sin(theta(t))*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dx**2*dz**2*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dx**2*dz**2*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dx**2*dz**2*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dx**2*dz**2*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dz**2*sin(theta(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**3*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**3*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dz**2*cos(theta(t))**3*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dz**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dy**4*sin(2*phi(t) - theta(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t))*sin(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dy**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dy**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dy**4*sin(2*phi(t) + theta(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*sin(2*phi(t) + theta(t))*sin(2*phi(t))*sin(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dy**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dy**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*sin(phi(t))**2*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**4*sin(phi(t))*sin(theta(t))**3*cos(phi(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**4*sin(phi(t))*sin(theta(t))**3*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(2*phi(t))*sin(theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*sin(2*phi(t))*sin(theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*sin(theta(t))*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(theta(t))*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**4*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*sin(theta(t))*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**4*sin(theta(t))*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(theta(t))*cos(2*phi(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*sin(theta(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t))*sin(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(2*phi(t))*sin(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*sin(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(phi(t))*sin(theta(t))**3*cos(phi(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(phi(t))*sin(theta(t))**3*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**2*dz**2*sin(phi(t))*sin(theta(t))*cos(phi(t))*cos(2*phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(phi(t))*sin(theta(t))*cos(phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t))*sin(theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t))*sin(theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**2*dz**2*sin(theta(t))**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(theta(t))**2*cos(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(theta(t))*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(theta(t))*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(theta(t))*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**2*dz**2*sin(theta(t))*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**2*dz**2*sin(theta(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**3*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**3*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**2*dz**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dz**4*sin(2*phi(t) - theta(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t))*sin(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dz**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dz**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dz**4*sin(2*phi(t) + theta(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(2*phi(t) + theta(t))*sin(2*phi(t))*sin(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dz**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dz**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dz**4*sin(phi(t))*sin(theta(t))*cos(phi(t))*cos(2*phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dz**4*sin(phi(t))*sin(theta(t))*cos(phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dz**4*sin(theta(t))**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dz**4*sin(theta(t))**2*cos(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(theta(t))*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(theta(t))*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(theta(t))*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(theta(t))*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dz**4*sin(theta(t))*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dz**4*sin(theta(t))*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*sin(theta(t))*cos(2*phi(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*sin(theta(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**3*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dz**4*cos(phi(t))**2*cos(theta(t))**3*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4)

[78.17s (+0.94s)] Derivative(theta(t), (t, 2)) = 4*dx**2*dy**2*sin(2*phi(t) - theta(t))*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dx**2*dy**2*sin(2*phi(t) + theta(t))*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dx**2*dy**2*sin(2*phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dy**2*cos(2*phi(t) - theta(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dx**2*dy**2*cos(2*phi(t) - theta(t))*cos(theta(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dy**2*cos(2*phi(t) + theta(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dx**2*dy**2*cos(2*phi(t) + theta(t))*cos(theta(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dx**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dx**2*dz**2*sin(2*phi(t) + theta(t))*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dz**2*sin(2*phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dx**2*dz**2*cos(2*phi(t) - theta(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dx**2*dz**2*cos(2*phi(t) - theta(t))*cos(theta(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dx**2*dz**2*cos(2*phi(t) + theta(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dx**2*dz**2*cos(2*phi(t) + theta(t))*cos(theta(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(2*phi(t) - theta(t))*sin(phi(t))**2*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(2*phi(t) - theta(t))*sin(phi(t))*sin(theta(t))**2*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dy**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dy**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(2*phi(t) - theta(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(2*phi(t) + theta(t))*sin(phi(t))**2*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(2*phi(t) + theta(t))*sin(phi(t))*sin(theta(t))**2*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(2*phi(t) + theta(t))*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dy**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dy**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(2*phi(t) + theta(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**4*sin(phi(t))**2*sin(2*phi(t))*sin(theta(t))**2*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**4*sin(phi(t))**2*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(phi(t))**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(phi(t))**2*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(phi(t))**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*sin(phi(t))**2*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**4*sin(2*phi(t))*sin(theta(t))**2*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**4*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(theta(t))**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*sin(theta(t))**2*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(theta(t))**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*sin(theta(t))**2*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(phi(t))**2*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(phi(t))*sin(theta(t))**2*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(phi(t))*cos(phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**2*dz**2*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(phi(t))**2*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(phi(t))*sin(theta(t))**2*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(phi(t))*cos(phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**2*dz**2*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**2*dz**2*sin(phi(t))**2*sin(2*phi(t))*sin(theta(t))**2*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(phi(t))**2*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**2*dz**2*sin(2*phi(t))*cos(phi(t))**2*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*cos(2*phi(t) - theta(t))*cos(phi(t))**2*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**2*dz**2*cos(2*phi(t) - theta(t))*cos(phi(t))**2*cos(theta(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**2*dz**2*cos(2*phi(t) + theta(t))*cos(phi(t))**2*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*cos(2*phi(t) + theta(t))*cos(phi(t))**2*cos(theta(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*sin(2*phi(t) - theta(t))*sin(phi(t))*cos(phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(2*phi(t) - theta(t))*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dz**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dz**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(2*phi(t) - theta(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*sin(2*phi(t) + theta(t))*sin(phi(t))*cos(phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(2*phi(t) + theta(t))*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dz**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dz**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(2*phi(t) + theta(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dz**4*sin(2*phi(t))*sin(theta(t))**2*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dz**4*sin(2*phi(t))*cos(phi(t))**2*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dz**4*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*sin(theta(t))**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(theta(t))**2*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*sin(theta(t))**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dz**4*sin(theta(t))**2*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*cos(2*phi(t) - theta(t))*cos(phi(t))**2*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*cos(2*phi(t) - theta(t))*cos(phi(t))**2*cos(theta(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dz**4*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dz**4*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*cos(2*phi(t) + theta(t))*cos(phi(t))**2*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dz**4*cos(2*phi(t) + theta(t))*cos(phi(t))**2*cos(theta(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dz**4*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4)

[78.98s (+0.81s)] Derivative(psi(t), (t, 2)) = 16*dx**4*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 32*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 32*dx**2*dy**2*sin(phi(t))*sin(theta(t))**2*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dy**2*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dy**2*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dx**2*dy**2*sin(2*theta(t))*cos(2*phi(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dy**2*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dy**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dx**2*dy**2*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dy**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dx**2*dy**2*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dy**2*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 32*dx**2*dz**2*sin(phi(t))*cos(phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 32*dx**2*dz**2*sin(theta(t))*cos(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dz**2*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dz**2*sin(2*theta(t))*cos(2*phi(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dx**2*dz**2*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dx**2*dz**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dx**2*dz**2*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dx**2*dz**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dx**2*dz**2*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dx**2*dz**2*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dy**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dy**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*sin(2*phi(t) + theta(t))*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dy**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dy**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**4*sin(phi(t))**2*sin(theta(t))*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**4*sin(phi(t))**2*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**4*sin(phi(t))*sin(theta(t))**2*cos(phi(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**4*sin(phi(t))*sin(theta(t))**2*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(2*phi(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*sin(theta(t))*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**4*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**4*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**4*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**4*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**4*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 8*dy**4*cos(2*phi(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**4*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**2*dz**2*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t) + theta(t))*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dy**2*dz**2*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(phi(t))*sin(theta(t))**2*cos(phi(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(phi(t))*sin(theta(t))**2*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**2*dz**2*sin(phi(t))*cos(phi(t))*cos(2*phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(phi(t))*cos(phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**2*dz**2*sin(theta(t))*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dy**2*dz**2*sin(theta(t))*cos(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**2*dz**2*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dy**2*dz**2*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dy**2*dz**2*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 4*dy**2*dz**2*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 16*dy**2*dz**2*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dz**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dz**4*sin(2*phi(t) - theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*sin(2*phi(t) + theta(t))*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - dz**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + dz**4*sin(2*phi(t) + theta(t))*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dz**4*sin(phi(t))*cos(phi(t))*cos(2*phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dz**4*sin(phi(t))*cos(phi(t))*cos(theta(t))**2*Derivative(phi(t), t)*Derivative(psi(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dz**4*sin(theta(t))*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 16*dz**4*sin(theta(t))*cos(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*sin(theta(t))*cos(2*phi(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*sin(theta(t))*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*cos(2*phi(t) - theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 2*dz**4*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dz**4*cos(2*phi(t) + theta(t))*cos(2*phi(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 4*dz**4*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) - 2*dz**4*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*cos(2*phi(t))*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4) + 8*dz**4*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t)/(16*dx**4*cos(theta(t))**2 + 16*dx**2*dy**2*sin(phi(t))**2*sin(theta(t))**2 - 16*dx**2*dy**2*sin(phi(t))**2 - 16*dx**2*dy**2*sin(theta(t))**2 - 8*dx**2*dy**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dy**2*cos(theta(t))**2 + 16*dx**2*dy**2 - 16*dx**2*dz**2*sin(theta(t))**2 - 16*dx**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 8*dx**2*dz**2*cos(2*phi(t))*cos(theta(t))**2 + 8*dx**2*dz**2*cos(theta(t))**2 + 16*dx**2*dz**2 - dy**4*sin(2*phi(t) - theta(t))**2 - 2*dy**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dy**4*sin(2*phi(t) + theta(t))**2 - 8*dy**4*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**4*sin(phi(t))**2*sin(theta(t))**2 + 8*dy**4*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**4*sin(phi(t))**2 + 8*dy**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dy**4*sin(theta(t))**2 - 8*dy**4*cos(2*phi(t)) + 8*dy**4 + 2*dy**2*dz**2*sin(2*phi(t) - theta(t))**2 + 4*dy**2*dz**2*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) + 2*dy**2*dz**2*sin(2*phi(t) + theta(t))**2 + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2*cos(2*phi(t)) + 8*dy**2*dz**2*sin(phi(t))**2*sin(theta(t))**2 - 8*dy**2*dz**2*sin(phi(t))**2*cos(2*phi(t)) - 8*dy**2*dz**2*sin(phi(t))**2 - 16*dy**2*dz**2*sin(theta(t))**2 + 8*dy**2*dz**2*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dy**2*dz**2*cos(phi(t))**2*cos(theta(t))**2 + 16*dy**2*dz**2 - dz**4*sin(2*phi(t) - theta(t))**2 - 2*dz**4*sin(2*phi(t) - theta(t))*sin(2*phi(t) + theta(t)) - dz**4*sin(2*phi(t) + theta(t))**2 - 8*dz**4*sin(theta(t))**2*cos(2*phi(t)) - 8*dz**4*sin(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(2*phi(t))*cos(theta(t))**2 - 8*dz**4*cos(phi(t))**2*cos(theta(t))**2 + 8*dz**4*cos(2*phi(t)) + 8*dz**4)

[79.03s (+0.04s)] Simplified solution for Derivative(phi(t), (t, 2)):

(-dx**4*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) + 2*dx**4*Derivative(psi(t), t)*Derivative(theta(t), t)/cos(theta(t)) - 2*dx**2*dy**2*sin(phi(t))**2*tan(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) + 2*dx**2*dy**2*sin(phi(t))*sin(theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dx**2*dy**2*sin(phi(t))*cos(phi(t))*Derivative(theta(t), t)**2 - dx**2*dy**2*sin(phi(t))*cos(phi(t))*Derivative(theta(t), t)**2/cos(theta(t))**2 + 2*dx**2*dy**2*tan(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) + dx**2*dy**2*Derivative(psi(t), t)*Derivative(theta(t), t)/cos(theta(t)) + 2*dx**2*dz**2*sin(phi(t))**2*tan(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) - 2*dx**2*dz**2*sin(phi(t))*sin(theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dx**2*dz**2*sin(phi(t))*cos(phi(t))*Derivative(theta(t), t)**2 + dx**2*dz**2*sin(phi(t))*cos(phi(t))*Derivative(theta(t), t)**2/cos(theta(t))**2 + dx**2*dz**2*Derivative(psi(t), t)*Derivative(theta(t), t)/cos(theta(t)) + 2*dy**4*sin(phi(t))**4*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) - 7*dy**4*sin(phi(t))**4*Derivative(psi(t), t)*Derivative(theta(t), t)/(4*cos(theta(t))) - dy**4*sin(phi(t))**4*cos(3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(4*cos(theta(t))**2) + 2*dy**4*sin(phi(t))**3*sin(theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dy**4*sin(phi(t))**3*sin(theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(2*cos(theta(t))**2) - dy**4*sin(phi(t))**3*sin(3*theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(2*cos(theta(t))**2) + dy**4*sin(phi(t))**3*cos(phi(t))*Derivative(theta(t), t)**2 - dy**4*sin(phi(t))**3*cos(phi(t))*Derivative(theta(t), t)**2/cos(theta(t))**2 - dy**4*sin(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) + 3*dy**4*sin(phi(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(4*cos(theta(t))) + dy**4*sin(phi(t))**2*cos(3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(4*cos(theta(t))**2) + dy**4*sin(phi(t))*sin(theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(4*cos(theta(t))**2) + dy**4*sin(phi(t))*sin(3*theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(4*cos(theta(t))**2) + dy**4*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/8 - 3*dy**4*Derivative(psi(t), t)*Derivative(theta(t), t)/(32*cos(theta(t))) - dy**4*cos(3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(32*cos(theta(t))**2) - 4*dy**2*dz**2*sin(phi(t))**4*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) + 7*dy**2*dz**2*sin(phi(t))**4*Derivative(psi(t), t)*Derivative(theta(t), t)/(2*cos(theta(t))) + dy**2*dz**2*sin(phi(t))**4*cos(3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(2*cos(theta(t))**2) - 2*dy**2*dz**2*sin(phi(t))**3*sin(theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dy**2*dz**2*sin(phi(t))**3*sin(theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(2*cos(theta(t))**2) + dy**2*dz**2*sin(phi(t))**3*sin(3*theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(2*cos(theta(t))**2) - 2*dy**2*dz**2*sin(phi(t))**3*cos(phi(t))*Derivative(theta(t), t)**2 + 2*dy**2*dz**2*sin(phi(t))**3*cos(phi(t))*Derivative(theta(t), t)**2/cos(theta(t))**2 + 4*dy**2*dz**2*sin(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) - 7*dy**2*dz**2*sin(phi(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(2*cos(theta(t))) - dy**2*dz**2*sin(phi(t))**2*cos(3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(2*cos(theta(t))**2) + dy**2*dz**2*sin(phi(t))*sin(theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dy**2*dz**2*sin(phi(t))*sin(theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(4*cos(theta(t))**2) - dy**2*dz**2*sin(phi(t))*sin(3*theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/(4*cos(theta(t))**2) + dy**2*dz**2*sin(phi(t))*cos(phi(t))*Derivative(theta(t), t)**2 - dy**2*dz**2*sin(phi(t))*cos(phi(t))*Derivative(theta(t), t)**2/cos(theta(t))**2 - dy**2*dz**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 + 2*dy**2*dz**2*tan(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) + 19*dy**2*dz**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*cos(theta(t))) + dy**2*dz**2*cos(3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(16*cos(theta(t))**2) + 2*dz**4*sin(phi(t))**4*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) - 7*dz**4*sin(phi(t))**4*Derivative(psi(t), t)*Derivative(theta(t), t)/(4*cos(theta(t))) - dz**4*sin(phi(t))**4*cos(3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(4*cos(theta(t))**2) + dz**4*sin(phi(t))**3*cos(phi(t))*Derivative(theta(t), t)**2 - dz**4*sin(phi(t))**3*cos(phi(t))*Derivative(theta(t), t)**2/cos(theta(t))**2 - 3*dz**4*sin(phi(t))**2*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) + 11*dz**4*sin(phi(t))**2*Derivative(psi(t), t)*Derivative(theta(t), t)/(4*cos(theta(t))) + dz**4*sin(phi(t))**2*cos(3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(4*cos(theta(t))**2) - dz**4*sin(phi(t))*sin(theta(t))*cos(phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dz**4*sin(phi(t))*cos(phi(t))*Derivative(theta(t), t)**2 + dz**4*sin(phi(t))*cos(phi(t))*Derivative(theta(t), t)**2/cos(theta(t))**2 + 9*dz**4*cos(theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/8 - 35*dz**4*Derivative(psi(t), t)*Derivative(theta(t), t)/(32*cos(theta(t))) - dz**4*cos(3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/(32*cos(theta(t))**2))/(dx**4 + dx**2*dy**2 + dx**2*dz**2 + dy**2*dz**2)


[131.03s (+52.01s)] Simplified solution for Derivative(theta(t), (t, 2)):

-(4*dx**2*dy**2*sin(2*phi(t) - 2*theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) + 4*dx**2*dy**2*sin(2*phi(t) + 2*theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) + 8*dx**2*dy**2*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t) - 2*dx**2*dy**2*cos(2*phi(t) - 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dx**2*dy**2*cos(2*phi(t) - 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) - 6*dx**2*dy**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dx**2*dy**2*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) - 6*dx**2*dy**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dx**2*dy**2*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) - 2*dx**2*dy**2*cos(2*phi(t) + 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dx**2*dy**2*cos(2*phi(t) + 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) - 4*dx**2*dz**2*sin(2*phi(t) - 2*theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) - 4*dx**2*dz**2*sin(2*phi(t) + 2*theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) - 8*dx**2*dz**2*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(theta(t), t) + 2*dx**2*dz**2*cos(2*phi(t) - 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dx**2*dz**2*cos(2*phi(t) - 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) + 6*dx**2*dz**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dx**2*dz**2*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) + 6*dx**2*dz**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dx**2*dz**2*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) + 2*dx**2*dz**2*cos(2*phi(t) + 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dx**2*dz**2*cos(2*phi(t) + 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) - 2*dy**4*(cos(2*phi(t)) - 1)**2*sin(2*theta(t))*Derivative(theta(t), t)**2 - 6*dy**4*(cos(2*phi(t)) - 1)**2*cos(theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - 2*dy**4*(cos(2*phi(t)) - 1)**2*cos(3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + 2*dy**4*sin(2*phi(t) - 2*theta(t))*Derivative(theta(t), t)**2 - 2*dy**4*sin(2*phi(t) + 2*theta(t))*Derivative(theta(t), t)**2 + 4*dy**4*sin(2*theta(t))*Derivative(theta(t), t)**2 - 3*dy**4*cos(2*phi(t) - 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dy**4*cos(2*phi(t) - 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - 9*dy**4*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dy**4*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - 9*dy**4*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dy**4*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - 3*dy**4*cos(2*phi(t) + 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dy**4*cos(2*phi(t) + 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 + dy**4*cos(4*phi(t) - 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 - dy**4*cos(4*phi(t) - 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 + 3*dy**4*cos(4*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 - dy**4*cos(4*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 + 3*dy**4*cos(4*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 + dy**4*cos(4*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 + dy**4*cos(4*phi(t) + 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 + dy**4*cos(4*phi(t) + 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 + 3*dy**4*cos(theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dy**4*cos(3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + 4*dy**2*dz**2*(cos(2*phi(t)) - 1)**2*sin(2*theta(t))*Derivative(theta(t), t)**2 + 12*dy**2*dz**2*(cos(2*phi(t)) - 1)**2*cos(theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + 4*dy**2*dz**2*(cos(2*phi(t)) - 1)**2*cos(3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - 4*dy**2*dz**2*sin(2*phi(t) - 2*theta(t))*Derivative(theta(t), t)**2 + 4*dy**2*dz**2*sin(2*phi(t) + 2*theta(t))*Derivative(theta(t), t)**2 - 8*dy**2*dz**2*sin(2*theta(t))*Derivative(theta(t), t)**2 + 4*dy**2*dz**2*cos(2*phi(t) - 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + 12*dy**2*dz**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + 12*dy**2*dz**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + 4*dy**2*dz**2*cos(2*phi(t) + 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dy**2*dz**2*cos(4*phi(t) - 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dy**2*dz**2*cos(4*phi(t) - 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - 3*dy**2*dz**2*cos(4*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dy**2*dz**2*cos(4*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - 3*dy**2*dz**2*cos(4*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dy**2*dz**2*cos(4*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - dy**2*dz**2*cos(4*phi(t) + 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dy**2*dz**2*cos(4*phi(t) + 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - 6*dy**2*dz**2*cos(theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - 2*dy**2*dz**2*cos(3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - 2*dz**4*(cos(2*phi(t)) - 1)**2*sin(2*theta(t))*Derivative(theta(t), t)**2 - 6*dz**4*(cos(2*phi(t)) - 1)**2*cos(theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - 2*dz**4*(cos(2*phi(t)) - 1)**2*cos(3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + 2*dz**4*sin(2*phi(t) - 2*theta(t))*Derivative(theta(t), t)**2 - 2*dz**4*sin(2*phi(t) + 2*theta(t))*Derivative(theta(t), t)**2 + 4*dz**4*sin(2*theta(t))*Derivative(theta(t), t)**2 - dz**4*cos(2*phi(t) - 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dz**4*cos(2*phi(t) - 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - 3*dz**4*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) - dz**4*cos(2*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - 3*dz**4*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dz**4*cos(2*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - dz**4*cos(2*phi(t) + 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dz**4*cos(2*phi(t) + 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 + dz**4*cos(4*phi(t) - 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 - dz**4*cos(4*phi(t) - 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 + 3*dz**4*cos(4*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 - dz**4*cos(4*phi(t) - theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 + 3*dz**4*cos(4*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 + dz**4*cos(4*phi(t) + theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 + dz**4*cos(4*phi(t) + 3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 + dz**4*cos(4*phi(t) + 3*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 + 3*dz**4*cos(theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dz**4*cos(3*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t))/(16*(dx**4 + dx**2*dy**2 + dx**2*dz**2 + dy**2*dz**2)*cos(theta(t))**2)


[177.58s (+46.54s)] Simplified solution for Derivative(psi(t), (t, 2)):

(2*dx**4*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) + dx**2*dy**2*sin(2*phi(t) - 2*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 + dx**2*dy**2*sin(2*phi(t) + 2*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 + dx**2*dy**2*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dx**2*dy**2*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) + dx**2*dy**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) - dx**2*dy**2*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/2 + dx**2*dy**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) + dx**2*dy**2*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/2 + 2*dx**2*dy**2*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) - dx**2*dz**2*sin(2*phi(t) - 2*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 - dx**2*dz**2*sin(2*phi(t) + 2*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 - dx**2*dz**2*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t) + dx**2*dz**2*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t) - dx**2*dz**2*cos(2*phi(t) - theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) + dx**2*dz**2*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/2 - dx**2*dz**2*cos(2*phi(t) + theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) - dx**2*dz**2*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/2 + 2*dx**2*dz**2*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) - dy**4*(1 - cos(2*phi(t)))**2*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 + dy**4*sin(2*phi(t) - 2*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/4 + dy**4*sin(2*phi(t) + 2*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/4 + dy**4*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 - dy**4*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/4 + dy**4*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/4 + dy**4*cos(4*phi(t) - theta(t))*Derivative(theta(t), t)**2/8 - dy**4*cos(4*phi(t) + theta(t))*Derivative(theta(t), t)**2/8 + dy**2*dz**2*(1 - cos(2*phi(t)))**2*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - dy**2*dz**2*sin(2*phi(t) - 2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 + dy**2*dz**2*sin(2*phi(t) + 2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - dy**2*dz**2*cos(4*phi(t) - theta(t))*Derivative(theta(t), t)**2/4 + dy**2*dz**2*cos(4*phi(t) + theta(t))*Derivative(theta(t), t)**2/4 + 4*dy**2*dz**2*cos(theta(t))*Derivative(phi(t), t)*Derivative(theta(t), t) - dz**4*(1 - cos(2*phi(t)))**2*sin(2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/4 - dz**4*sin(2*phi(t) - 2*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/4 + dz**4*sin(2*phi(t) - 2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - dz**4*sin(2*phi(t) + 2*theta(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/4 - dz**4*sin(2*phi(t) + 2*theta(t))*Derivative(psi(t), t)*Derivative(theta(t), t)/2 - dz**4*sin(2*phi(t))*Derivative(phi(t), t)*Derivative(psi(t), t)/2 + dz**4*cos(2*phi(t) - theta(t))*Derivative(theta(t), t)**2/4 - dz**4*cos(2*phi(t) + theta(t))*Derivative(theta(t), t)**2/4 + dz**4*cos(4*phi(t) - theta(t))*Derivative(theta(t), t)**2/8 - dz**4*cos(4*phi(t) + theta(t))*Derivative(theta(t), t)**2/8)/((cos(2*theta(t)) + 1)*(dx**4 + dx**2*dy**2 + dx**2*dz**2 + dy**2*dz**2))


[320.47s (+142.89s)] Substituted solution for phi_ddot:

(-dx**4*psi_dot*theta_dot*cos(theta) + 2*dx**4*psi_dot*theta_dot/cos(theta) + 2*dx**2*dy**2*phi_dot*psi_dot*sin(phi)*sin(theta)*cos(phi) - 2*dx**2*dy**2*phi_dot*theta_dot*sin(phi)**2*tan(theta) + 2*dx**2*dy**2*phi_dot*theta_dot*tan(theta) + dx**2*dy**2*psi_dot*theta_dot/cos(theta) + dx**2*dy**2*theta_dot**2*sin(phi)*cos(phi) - dx**2*dy**2*theta_dot**2*sin(phi)*cos(phi)/cos(theta)**2 - 2*dx**2*dz**2*phi_dot*psi_dot*sin(phi)*sin(theta)*cos(phi) + 2*dx**2*dz**2*phi_dot*theta_dot*sin(phi)**2*tan(theta) + dx**2*dz**2*psi_dot*theta_dot/cos(theta) - dx**2*dz**2*theta_dot**2*sin(phi)*cos(phi) + dx**2*dz**2*theta_dot**2*sin(phi)*cos(phi)/cos(theta)**2 + 2*dy**4*phi_dot*psi_dot*sin(phi)**3*sin(theta)*cos(phi) - dy**4*phi_dot*psi_dot*sin(phi)**3*sin(theta)*cos(phi)/(2*cos(theta)**2) - dy**4*phi_dot*psi_dot*sin(phi)**3*sin(3*theta)*cos(phi)/(2*cos(theta)**2) + dy**4*phi_dot*psi_dot*sin(phi)*sin(theta)*cos(phi)/(4*cos(theta)**2) + dy**4*phi_dot*psi_dot*sin(phi)*sin(3*theta)*cos(phi)/(4*cos(theta)**2) + 2*dy**4*psi_dot*theta_dot*sin(phi)**4*cos(theta) - 7*dy**4*psi_dot*theta_dot*sin(phi)**4/(4*cos(theta)) - dy**4*psi_dot*theta_dot*sin(phi)**4*cos(3*theta)/(4*cos(theta)**2) - dy**4*psi_dot*theta_dot*sin(phi)**2*cos(theta) + 3*dy**4*psi_dot*theta_dot*sin(phi)**2/(4*cos(theta)) + dy**4*psi_dot*theta_dot*sin(phi)**2*cos(3*theta)/(4*cos(theta)**2) + dy**4*psi_dot*theta_dot*cos(theta)/8 - 3*dy**4*psi_dot*theta_dot/(32*cos(theta)) - dy**4*psi_dot*theta_dot*cos(3*theta)/(32*cos(theta)**2) + dy**4*theta_dot**2*sin(phi)**3*cos(phi) - dy**4*theta_dot**2*sin(phi)**3*cos(phi)/cos(theta)**2 - 2*dy**2*dz**2*phi_dot*psi_dot*sin(phi)**3*sin(theta)*cos(phi) + dy**2*dz**2*phi_dot*psi_dot*sin(phi)**3*sin(theta)*cos(phi)/(2*cos(theta)**2) + dy**2*dz**2*phi_dot*psi_dot*sin(phi)**3*sin(3*theta)*cos(phi)/(2*cos(theta)**2) + dy**2*dz**2*phi_dot*psi_dot*sin(phi)*sin(theta)*cos(phi) - dy**2*dz**2*phi_dot*psi_dot*sin(phi)*sin(theta)*cos(phi)/(4*cos(theta)**2) - dy**2*dz**2*phi_dot*psi_dot*sin(phi)*sin(3*theta)*cos(phi)/(4*cos(theta)**2) + 2*dy**2*dz**2*phi_dot*theta_dot*tan(theta) - 4*dy**2*dz**2*psi_dot*theta_dot*sin(phi)**4*cos(theta) + 7*dy**2*dz**2*psi_dot*theta_dot*sin(phi)**4/(2*cos(theta)) + dy**2*dz**2*psi_dot*theta_dot*sin(phi)**4*cos(3*theta)/(2*cos(theta)**2) + 4*dy**2*dz**2*psi_dot*theta_dot*sin(phi)**2*cos(theta) - 7*dy**2*dz**2*psi_dot*theta_dot*sin(phi)**2/(2*cos(theta)) - dy**2*dz**2*psi_dot*theta_dot*sin(phi)**2*cos(3*theta)/(2*cos(theta)**2) - dy**2*dz**2*psi_dot*theta_dot*cos(theta)/4 + 19*dy**2*dz**2*psi_dot*theta_dot/(16*cos(theta)) + dy**2*dz**2*psi_dot*theta_dot*cos(3*theta)/(16*cos(theta)**2) - 2*dy**2*dz**2*theta_dot**2*sin(phi)**3*cos(phi) + 2*dy**2*dz**2*theta_dot**2*sin(phi)**3*cos(phi)/cos(theta)**2 + dy**2*dz**2*theta_dot**2*sin(phi)*cos(phi) - dy**2*dz**2*theta_dot**2*sin(phi)*cos(phi)/cos(theta)**2 - dz**4*phi_dot*psi_dot*sin(phi)*sin(theta)*cos(phi) + 2*dz**4*psi_dot*theta_dot*sin(phi)**4*cos(theta) - 7*dz**4*psi_dot*theta_dot*sin(phi)**4/(4*cos(theta)) - dz**4*psi_dot*theta_dot*sin(phi)**4*cos(3*theta)/(4*cos(theta)**2) - 3*dz**4*psi_dot*theta_dot*sin(phi)**2*cos(theta) + 11*dz**4*psi_dot*theta_dot*sin(phi)**2/(4*cos(theta)) + dz**4*psi_dot*theta_dot*sin(phi)**2*cos(3*theta)/(4*cos(theta)**2) + 9*dz**4*psi_dot*theta_dot*cos(theta)/8 - 35*dz**4*psi_dot*theta_dot/(32*cos(theta)) - dz**4*psi_dot*theta_dot*cos(3*theta)/(32*cos(theta)**2) + dz**4*theta_dot**2*sin(phi)**3*cos(phi) - dz**4*theta_dot**2*sin(phi)**3*cos(phi)/cos(theta)**2 - dz**4*theta_dot**2*sin(phi)*cos(phi) + dz**4*theta_dot**2*sin(phi)*cos(phi)/cos(theta)**2)/(dx**4 + dx**2*dy**2 + dx**2*dz**2 + dy**2*dz**2)


[320.48s (+0.01s)] Substituted solution for theta_ddot:

(2*dx**2*dy**2*phi_dot*psi_dot*cos(2*phi - 3*theta) + 6*dx**2*dy**2*phi_dot*psi_dot*cos(2*phi - theta) + 6*dx**2*dy**2*phi_dot*psi_dot*cos(2*phi + theta) + 2*dx**2*dy**2*phi_dot*psi_dot*cos(2*phi + 3*theta) - 8*dx**2*dy**2*phi_dot*theta_dot*sin(2*phi) - 4*dx**2*dy**2*phi_dot*theta_dot*sin(2*phi - 2*theta) - 4*dx**2*dy**2*phi_dot*theta_dot*sin(2*phi + 2*theta) + dx**2*dy**2*psi_dot*theta_dot*cos(2*phi - 3*theta) + dx**2*dy**2*psi_dot*theta_dot*cos(2*phi - theta) - dx**2*dy**2*psi_dot*theta_dot*cos(2*phi + theta) - dx**2*dy**2*psi_dot*theta_dot*cos(2*phi + 3*theta) - 2*dx**2*dz**2*phi_dot*psi_dot*cos(2*phi - 3*theta) - 6*dx**2*dz**2*phi_dot*psi_dot*cos(2*phi - theta) - 6*dx**2*dz**2*phi_dot*psi_dot*cos(2*phi + theta) - 2*dx**2*dz**2*phi_dot*psi_dot*cos(2*phi + 3*theta) + 8*dx**2*dz**2*phi_dot*theta_dot*sin(2*phi) + 4*dx**2*dz**2*phi_dot*theta_dot*sin(2*phi - 2*theta) + 4*dx**2*dz**2*phi_dot*theta_dot*sin(2*phi + 2*theta) - dx**2*dz**2*psi_dot*theta_dot*cos(2*phi - 3*theta) - dx**2*dz**2*psi_dot*theta_dot*cos(2*phi - theta) + dx**2*dz**2*psi_dot*theta_dot*cos(2*phi + theta) + dx**2*dz**2*psi_dot*theta_dot*cos(2*phi + 3*theta) + 6*dy**4*phi_dot*psi_dot*(cos(2*phi) - 1)**2*cos(theta) + 2*dy**4*phi_dot*psi_dot*(cos(2*phi) - 1)**2*cos(3*theta) - 3*dy**4*phi_dot*psi_dot*cos(theta) - dy**4*phi_dot*psi_dot*cos(3*theta) + 3*dy**4*phi_dot*psi_dot*cos(2*phi - 3*theta) + 9*dy**4*phi_dot*psi_dot*cos(2*phi - theta) + 9*dy**4*phi_dot*psi_dot*cos(2*phi + theta) + 3*dy**4*phi_dot*psi_dot*cos(2*phi + 3*theta) - dy**4*phi_dot*psi_dot*cos(4*phi - 3*theta)/2 - 3*dy**4*phi_dot*psi_dot*cos(4*phi - theta)/2 - 3*dy**4*phi_dot*psi_dot*cos(4*phi + theta)/2 - dy**4*phi_dot*psi_dot*cos(4*phi + 3*theta)/2 - dy**4*psi_dot*theta_dot*cos(2*phi - 3*theta)/2 - dy**4*psi_dot*theta_dot*cos(2*phi - theta)/2 + dy**4*psi_dot*theta_dot*cos(2*phi + theta)/2 + dy**4*psi_dot*theta_dot*cos(2*phi + 3*theta)/2 + dy**4*psi_dot*theta_dot*cos(4*phi - 3*theta)/4 + dy**4*psi_dot*theta_dot*cos(4*phi - theta)/4 - dy**4*psi_dot*theta_dot*cos(4*phi + theta)/4 - dy**4*psi_dot*theta_dot*cos(4*phi + 3*theta)/4 + 2*dy**4*theta_dot**2*(cos(2*phi) - 1)**2*sin(2*theta) - 4*dy**4*theta_dot**2*sin(2*theta) - 2*dy**4*theta_dot**2*sin(2*phi - 2*theta) + 2*dy**4*theta_dot**2*sin(2*phi + 2*theta) - 12*dy**2*dz**2*phi_dot*psi_dot*(cos(2*phi) - 1)**2*cos(theta) - 4*dy**2*dz**2*phi_dot*psi_dot*(cos(2*phi) - 1)**2*cos(3*theta) + 6*dy**2*dz**2*phi_dot*psi_dot*cos(theta) + 2*dy**2*dz**2*phi_dot*psi_dot*cos(3*theta) - 4*dy**2*dz**2*phi_dot*psi_dot*cos(2*phi - 3*theta) - 12*dy**2*dz**2*phi_dot*psi_dot*cos(2*phi - theta) - 12*dy**2*dz**2*phi_dot*psi_dot*cos(2*phi + theta) - 4*dy**2*dz**2*phi_dot*psi_dot*cos(2*phi + 3*theta) + dy**2*dz**2*phi_dot*psi_dot*cos(4*phi - 3*theta) + 3*dy**2*dz**2*phi_dot*psi_dot*cos(4*phi - theta) + 3*dy**2*dz**2*phi_dot*psi_dot*cos(4*phi + theta) + dy**2*dz**2*phi_dot*psi_dot*cos(4*phi + 3*theta) - dy**2*dz**2*psi_dot*theta_dot*cos(4*phi - 3*theta)/2 - dy**2*dz**2*psi_dot*theta_dot*cos(4*phi - theta)/2 + dy**2*dz**2*psi_dot*theta_dot*cos(4*phi + theta)/2 + dy**2*dz**2*psi_dot*theta_dot*cos(4*phi + 3*theta)/2 - 4*dy**2*dz**2*theta_dot**2*(cos(2*phi) - 1)**2*sin(2*theta) + 8*dy**2*dz**2*theta_dot**2*sin(2*theta) + 4*dy**2*dz**2*theta_dot**2*sin(2*phi - 2*theta) - 4*dy**2*dz**2*theta_dot**2*sin(2*phi + 2*theta) + 6*dz**4*phi_dot*psi_dot*(cos(2*phi) - 1)**2*cos(theta) + 2*dz**4*phi_dot*psi_dot*(cos(2*phi) - 1)**2*cos(3*theta) - 3*dz**4*phi_dot*psi_dot*cos(theta) - dz**4*phi_dot*psi_dot*cos(3*theta) + dz**4*phi_dot*psi_dot*cos(2*phi - 3*theta) + 3*dz**4*phi_dot*psi_dot*cos(2*phi - theta) + 3*dz**4*phi_dot*psi_dot*cos(2*phi + theta) + dz**4*phi_dot*psi_dot*cos(2*phi + 3*theta) - dz**4*phi_dot*psi_dot*cos(4*phi - 3*theta)/2 - 3*dz**4*phi_dot*psi_dot*cos(4*phi - theta)/2 - 3*dz**4*phi_dot*psi_dot*cos(4*phi + theta)/2 - dz**4*phi_dot*psi_dot*cos(4*phi + 3*theta)/2 + dz**4*psi_dot*theta_dot*cos(2*phi - 3*theta)/2 + dz**4*psi_dot*theta_dot*cos(2*phi - theta)/2 - dz**4*psi_dot*theta_dot*cos(2*phi + theta)/2 - dz**4*psi_dot*theta_dot*cos(2*phi + 3*theta)/2 + dz**4*psi_dot*theta_dot*cos(4*phi - 3*theta)/4 + dz**4*psi_dot*theta_dot*cos(4*phi - theta)/4 - dz**4*psi_dot*theta_dot*cos(4*phi + theta)/4 - dz**4*psi_dot*theta_dot*cos(4*phi + 3*theta)/4 + 2*dz**4*theta_dot**2*(cos(2*phi) - 1)**2*sin(2*theta) - 4*dz**4*theta_dot**2*sin(2*theta) - 2*dz**4*theta_dot**2*sin(2*phi - 2*theta) + 2*dz**4*theta_dot**2*sin(2*phi + 2*theta))/(16*(dx**4 + dx**2*dy**2 + dx**2*dz**2 + dy**2*dz**2)*cos(theta)**2)


[320.50s (+0.03s)] Substituted solution for psi_ddot:

(2*dx**4*psi_dot*theta_dot*sin(2*theta) + dx**2*dy**2*phi_dot*psi_dot*sin(2*phi) + dx**2*dy**2*phi_dot*psi_dot*sin(2*phi - 2*theta)/2 + dx**2*dy**2*phi_dot*psi_dot*sin(2*phi + 2*theta)/2 + 2*dx**2*dy**2*phi_dot*theta_dot*cos(theta) + dx**2*dy**2*phi_dot*theta_dot*cos(2*phi - theta) + dx**2*dy**2*phi_dot*theta_dot*cos(2*phi + theta) + dx**2*dy**2*psi_dot*theta_dot*sin(2*theta) - dx**2*dy**2*theta_dot**2*cos(2*phi - theta)/2 + dx**2*dy**2*theta_dot**2*cos(2*phi + theta)/2 - dx**2*dz**2*phi_dot*psi_dot*sin(2*phi) - dx**2*dz**2*phi_dot*psi_dot*sin(2*phi - 2*theta)/2 - dx**2*dz**2*phi_dot*psi_dot*sin(2*phi + 2*theta)/2 + 2*dx**2*dz**2*phi_dot*theta_dot*cos(theta) - dx**2*dz**2*phi_dot*theta_dot*cos(2*phi - theta) - dx**2*dz**2*phi_dot*theta_dot*cos(2*phi + theta) + dx**2*dz**2*psi_dot*theta_dot*sin(2*theta) + dx**2*dz**2*theta_dot**2*cos(2*phi - theta)/2 - dx**2*dz**2*theta_dot**2*cos(2*phi + theta)/2 + dy**4*phi_dot*psi_dot*sin(2*phi)/2 + dy**4*phi_dot*psi_dot*sin(2*phi - 2*theta)/4 + dy**4*phi_dot*psi_dot*sin(2*phi + 2*theta)/4 - dy**4*psi_dot*theta_dot*(1 - cos(2*phi))**2*sin(2*theta)/4 - dy**4*theta_dot**2*cos(2*phi - theta)/4 + dy**4*theta_dot**2*cos(2*phi + theta)/4 + dy**4*theta_dot**2*cos(4*phi - theta)/8 - dy**4*theta_dot**2*cos(4*phi + theta)/8 + 4*dy**2*dz**2*phi_dot*theta_dot*cos(theta) + dy**2*dz**2*psi_dot*theta_dot*(1 - cos(2*phi))**2*sin(2*theta)/2 - dy**2*dz**2*psi_dot*theta_dot*sin(2*phi - 2*theta)/2 + dy**2*dz**2*psi_dot*theta_dot*sin(2*phi + 2*theta)/2 - dy**2*dz**2*theta_dot**2*cos(4*phi - theta)/4 + dy**2*dz**2*theta_dot**2*cos(4*phi + theta)/4 - dz**4*phi_dot*psi_dot*sin(2*phi)/2 - dz**4*phi_dot*psi_dot*sin(2*phi - 2*theta)/4 - dz**4*phi_dot*psi_dot*sin(2*phi + 2*theta)/4 - dz**4*psi_dot*theta_dot*(1 - cos(2*phi))**2*sin(2*theta)/4 + dz**4*psi_dot*theta_dot*sin(2*phi - 2*theta)/2 - dz**4*psi_dot*theta_dot*sin(2*phi + 2*theta)/2 + dz**4*theta_dot**2*cos(2*phi - theta)/4 - dz**4*theta_dot**2*cos(2*phi + theta)/4 + dz**4*theta_dot**2*cos(4*phi - theta)/8 - dz**4*theta_dot**2*cos(4*phi + theta)/8)/((cos(2*theta) + 1)*(dx**4 + dx**2*dy**2 + dx**2*dz**2 + dy**2*dz**2))


[320.52s (+0.01s)] Done.