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msm/ShoulderModel_3DOF/GeneralizedAccelerations.m
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GeneralizedAccelerations.m
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DDq(1) =- (1250*((433*dq1*dq2*sin(2*q2))/2500 - (3*dq2*dq3*sin(q2))/125 - Q1 + (493*dq1*dq2*cos(q2)*cos(q3)^2*sin(q2))/1250 + (493*dq1*dq2*cos(q2)*sin(q2)*sin(q3)^2)/1250))/(493*(cos(q3)^2*sin(q2)^2 + sin(q2)^2*sin(q3)^2)) - (1250*cos(q2)*(Q3 + (3*dq1*dq2*sin(q2))/125))/(493*(cos(q3)^2*sin(q2)^2 + sin(q2)^2*sin(q3)^2));
DDq(2) =(1250*Q2)/493 - (2109609914450093125*sin(q2))/69383581759176704 - (15*dq1^2*sin(2*q2))/493 - (30*dq1*dq3*sin(q2))/493 + dq1^2*cos(q2)*cos(q3)^2*sin(q2) + dq1^2*cos(q2)*sin(q2)*sin(q3)^2;
DDq(3) =(125*(Q3 + (3*dq1*dq2*sin(q2))/125)*(30*cos(q2)^2 + 493*cos(q3)^2*sin(q2)^2 + 493*sin(q2)^2*sin(q3)^2))/(1479*(cos(q3)^2*sin(q2)^2 + sin(q2)^2*sin(q3)^2)) + (1250*cos(q2)*((433*dq1*dq2*sin(2*q2))/2500 - (3*dq2*dq3*sin(q2))/125 - Q1 + (493*dq1*dq2*cos(q2)*cos(q3)^2*sin(q2))/1250 + (493*dq1*dq2*cos(q2)*sin(q2)*sin(q3)^2)/1250))/(493*(cos(q3)^2*sin(q2)^2 + sin(q2)^2*sin(q3)^2));
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