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syms m l1 l2 t1 t2 t11 t12 t21 t22 g x x1 x2

T1=m*(-l1^2*(2*sin(t1)*cos(t2)*t11^2+(sin(t1))^2*t12)-
l1*l2*(cos(t1)*t11*sin(t2)*t21+sin(t1)*(cos(t2)*t21^2+sin(t2)*t22))+...
l1*(x2*cos))

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