我将一些大型方程式从 Maple 复制到 LaTeX。不幸的是，它们太大，无法放在一页纸上。使用align环境或类似环境需要花费数小时才能对齐所有方程式，而且出错的可能性很高。
此外，对于不同的文档类别（例如onecolumn或 ）twocolumn和不同的格式设置，必须重复这一繁琐的过程。使用对齐方式dmath从右向左对齐效果不佳，当公式超过一页时，就会出错。
有人能建议一种方法来很好地自动对齐这些大型方程式吗？
这是我的一个大方程式：
\documentclass{article}
\usepackage{amsmath}
\usepackage{breqn}
\begin{dmath}
0.02925000000\, \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t
\right) \right) \sin \left( \theta \left( t \right) \right)
\left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) \right) \sin
\left( \alpha \left( t \right) \right) + 0.02925000000\, \left( {
\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) \cos \left(
\theta \left( t \right) \right) \left( {\frac {\rm d}{{\rm d}t}}
\alpha \left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) - 0.01348859649\, \left( {\frac {\rm d}{{\rm d}t}}W \left( t
\right) \right) ^{2}\cos \left( \theta \left( t \right) \right)
\cos \left( \alpha \left( t \right) \right) - 0.01348859649\, \left(
{\frac {\rm d}{{\rm d}t}}W \left( t \right) \right) ^{2}\sin \left(
\theta \left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) - 0.1000000000\, \left( - 0.7341739112\,W \left( t \right) {
\frac {\rm d}{{\rm d}t}}W \left( t \right) - 0.5537021440\,W \left( t
\right) {\frac {\rm d}{{\rm d}t}}\theta \left( t \right) +
0.5537021440\,W \left( t \right) {\frac {\rm d}{{\rm d}t}}\alpha
\left( t \right) \right) \left( -{\frac {\rm d}{{\rm d}t}}\theta
\left( t \right) +{\frac {\rm d}{{\rm d}t}}\alpha \left( t \right)
\right) \sin \left( -\theta \left( t \right) +\alpha \left( t
\right) \right) + 0.1000000000\, \left( \left( 0.3670869556\,
\left( W \left( t \right) \right) ^{2}- 0.5000000000 \right) {\frac
{\rm d}{{\rm d}t}}\alpha \left( t \right) + \left( - 0.3670869556\,
\left( W \left( t \right) \right) ^{2}+ 0.5000000000 \right) {\frac
{\rm d}{{\rm d}t}}\theta \left( t \right) + 0.5537021440\,{\frac
{\rm d}{{\rm d}t}}W \left( t \right) \right) \left( -{\frac {\rm d}{
{\rm d}t}}\theta \left( t \right) +{\frac {\rm d}{{\rm d}t}}\alpha
\left( t \right) \right) \cos \left( -\theta \left( t \right) +
\alpha \left( t \right) \right) - 0.1468347822\, \left( - \left( {
\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) \sin \left(
\theta \left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) -\cos \left( \theta \left( t \right) \right) \left( {\frac
{\rm d}{{\rm d}t}}\alpha \left( t \right) \right) \sin \left( \alpha
\left( t \right) \right) + \left( {\frac {\rm d}{{\rm d}t}}\theta
\left( t \right) \right) \cos \left( \theta \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) +\sin \left(
\theta \left( t \right) \right) \left( {\frac {\rm d}{{\rm d}t}}
\alpha \left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) \right) W \left( t \right) {\frac {\rm d}{{\rm d}t}}W
\left( t \right) - 0.07341739112\, \left( \cos \left( \theta \left( t
\right) \right) \cos \left( \alpha \left( t \right) \right) +\sin
\left( \theta \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) \right) W \left( t \right) {\frac {{\rm d}^{2}}{
{\rm d}{t}^{2}}}W \left( t \right) - 0.01462500000\, \left( {\frac {
{\rm d}^{2}}{{\rm d}{t}^{2}}}\theta \left( t \right) \right) \sin
\left( \theta \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) - 0.01462500000\,\cos \left( \theta \left( t
\right) \right) \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha
\left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) + 0.01462500000\, \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}
}\theta \left( t \right) \right) \cos \left( \theta \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) + 0.01462500000
\,\sin \left( \theta \left( t \right) \right) \left( {\frac {{\rm d}
^{2}}{{\rm d}{t}^{2}}}\alpha \left( t \right) \right) \cos \left(
\alpha \left( t \right) \right) - 0.01218058698\, \left( {\frac {
{\rm d}^{2}}{{\rm d}{t}^{2}}}W \left( t \right) \right) \cos \left(
\alpha \left( t \right) \right) \sin \left( \theta \left( t \right)
\right) + 0.01218058698\, \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}
}W \left( t \right) \right) \cos \left( \theta \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) - 0.02697719305
\,W \left( t \right) \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t
\right) \right) \cos \left( \theta \left( t \right) \right) \sin
\left( \alpha \left( t \right) \right) {\frac {\rm d}{{\rm d}t}}W
\left( t \right) - 0.01348859656\, \left( W \left( t \right)
\right) ^{2} \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right)
\right) \cos \left( \theta \left( t \right) \right) \left( {\frac
{\rm d}{{\rm d}t}}\alpha \left( t \right) \right) \cos \left( \alpha
\left( t \right) \right) - 0.02697719305\,W \left( t \right) \sin
\left( \theta \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) {\frac {\rm d}{{\rm d}t}}W \left( t \right) +
0.02697719305\,W \left( t \right) \cos \left( \theta \left( t
\right) \right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t
\right) \right) \sin \left( \alpha \left( t \right) \right) {\frac
{\rm d}{{\rm d}t}}W \left( t \right) - 0.01348859656\, \left( W
\left( t \right) \right) ^{2} \left( {\frac {\rm d}{{\rm d}t}}\theta
\left( t \right) \right) \sin \left( \theta \left( t \right)
\right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) + 0.02436117396
\,W \left( t \right) \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t
\right) \right) \cos \left( \theta \left( t \right) \right)
\left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) \right) \sin
\left( \alpha \left( t \right) \right) - 0.02436117396\,W \left( t
\right) \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right)
\right) \sin \left( \theta \left( t \right) \right) \cos \left(
\alpha \left( t \right) \right) {\frac {\rm d}{{\rm d}t}}\alpha
\left( t \right) - 0.01218058698\,W \left( t \right) \left( {\frac {
{\rm d}^{2}}{{\rm d}{t}^{2}}}\theta \left( t \right) \right) \sin
\left( \theta \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) + 0.01218058698\,W \left( t \right) \sin \left(
\theta \left( t \right) \right) \left( {\frac {{\rm d}^{2}}{{\rm d}{
t}^{2}}}\alpha \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) - 0.01218058698\,W \left( t \right) \left( {\frac {
{\rm d}^{2}}{{\rm d}{t}^{2}}}\theta \left( t \right) \right) \cos
\left( \theta \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) + 0.01218058698\,W \left( t \right) \cos \left(
\theta \left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha \left( t \right)
- 0.01348859649\,W \left( t \right) \left( {\frac {{\rm d}^{2}}{
{\rm d}{t}^{2}}}W \left( t \right) \right) \cos \left( \theta \left(
t \right) \right) \cos \left( \alpha \left( t \right) \right) -
0.01348859649\,W \left( t \right) \left( {\frac {{\rm d}^{2}}{
{\rm d}{t}^{2}}}W \left( t \right) \right) \sin \left( \theta \left(
t \right) \right) \sin \left( \alpha \left( t \right) \right) +
0.006744298281\, \left( W \left( t \right) \right) ^{2} \left( {
\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\theta \left( t \right) \right)
\sin \left( \theta \left( t \right) \right) \cos \left( \alpha
\left( t \right) \right) - 0.006744298281\, \left( W \left( t
\right) \right) ^{2}\sin \left( \theta \left( t \right) \right)
\left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha \left( t \right)
\right) \cos \left( \alpha \left( t \right) \right) - 0.006744298281
\, \left( W \left( t \right) \right) ^{2} \left( {\frac {{\rm d}^{2}}
{{\rm d}{t}^{2}}}\theta \left( t \right) \right) \cos \left( \theta
\left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) + 0.006744298281\, \left( W \left( t \right) \right) ^{2}
\cos \left( \theta \left( t \right) \right) \left( {\frac {{\rm d}^{
2}}{{\rm d}{t}^{2}}}\alpha \left( t \right) \right) \sin \left(
\alpha \left( t \right) \right) - 0.02436117396\, \left( {\frac
{\rm d}{{\rm d}t}}W \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\theta \left( t \right) \right) \sin \left( \theta \left( t
\right) \right) \sin \left( \alpha \left( t \right) \right) +
0.01218058698\,W \left( t \right) \left( {\frac {\rm d}{{\rm d}t}}
\theta \left( t \right) \right) ^{2}\sin \left( \theta \left( t
\right) \right) \cos \left( \alpha \left( t \right) \right) -
0.02436117396\, \left( {\frac {\rm d}{{\rm d}t}}W \left( t \right)
\right) \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right)
\right) \cos \left( \theta \left( t \right) \right) \cos \left(
\alpha \left( t \right) \right) + 0.006744298281\, \left( W \left( t
\right) \right) ^{2} \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t
\right) \right) ^{2}\cos \left( \theta \left( t \right) \right)
\cos \left( \alpha \left( t \right) \right) + 0.02436117396\, \left(
{\frac {\rm d}{{\rm d}t}}W \left( t \right) \right) \sin \left(
\theta \left( t \right) \right) \left( {\frac {\rm d}{{\rm d}t}}
\alpha \left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) - 0.01218058698\,W \left( t \right) \cos \left( \theta
\left( t \right) \right) \left( {\frac {\rm d}{{\rm d}t}}\alpha
\left( t \right) \right) ^{2}\sin \left( \alpha \left( t \right)
\right) + 0.02436117396\, \left( {\frac {\rm d}{{\rm d}t}}W \left( t
\right) \right) \cos \left( \theta \left( t \right) \right) \cos
\left( \alpha \left( t \right) \right) {\frac {\rm d}{{\rm d}t}}
\alpha \left( t \right) + 0.1000000000\, \left( - \left( {\frac {
{\rm d}^{2}}{{\rm d}{t}^{2}}}\theta \left( t \right) \right) \sin
\left( \theta \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) - \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t
\right) \right) ^{2}\cos \left( \theta \left( t \right) \right)
\cos \left( \alpha \left( t \right) \right) +2\, \left( {\frac
{\rm d}{{\rm d}t}}\theta \left( t \right) \right) \sin \left( \theta
\left( t \right) \right) \left( {\frac {\rm d}{{\rm d}t}}\alpha
\left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) -\cos \left( \theta \left( t \right) \right) \left( {\frac
{{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha \left( t \right) \right) \sin
\left( \alpha \left( t \right) \right) -\cos \left( \theta \left( t
\right) \right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t
\right) \right) ^{2}\cos \left( \alpha \left( t \right) \right) +
\left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\theta \left( t \right)
\right) \cos \left( \theta \left( t \right) \right) \sin \left(
\alpha \left( t \right) \right) - \left( {\frac {\rm d}{{\rm d}t}}
\theta \left( t \right) \right) ^{2}\sin \left( \theta \left( t
\right) \right) \sin \left( \alpha \left( t \right) \right) +2\,
\left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) \cos
\left( \theta \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) +\sin \left( \theta \left( t \right) \right)
\left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha \left( t \right)
\right) \cos \left( \alpha \left( t \right) \right) -\sin \left(
\theta \left( t \right) \right) \left( {\frac {\rm d}{{\rm d}t}}
\alpha \left( t \right) \right) ^{2}\sin \left( \alpha \left( t
\right) \right) \right) \left( 0.5- 0.3670869556\, \left( W
\left( t \right) \right) ^{2} \right) + 0.1000000000\, \left(
0.7341739112\,W \left( t \right) \left( {\frac {\rm d}{{\rm d}t}}W
\left( t \right) \right) {\frac {\rm d}{{\rm d}t}}\alpha \left( t
\right) + \left( 0.3670869556\, \left( W \left( t \right) \right) ^
{2}- 0.5000000000 \right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha
\left( t \right) - 0.7341739112\,W \left( t \right) \left( {\frac
{\rm d}{{\rm d}t}}W \left( t \right) \right) {\frac {\rm d}{{\rm d}t}
}\theta \left( t \right) + \left( - 0.3670869556\, \left( W \left( t
\right) \right) ^{2}+ 0.5000000000 \right) {\frac {{\rm d}^{2}}{
{\rm d}{t}^{2}}}\theta \left( t \right) + 0.5537021440\,{\frac {
{\rm d}^{2}}{{\rm d}{t}^{2}}}W \left( t \right) \right) \sin \left( -
\theta \left( t \right) +\alpha \left( t \right) \right) +
0.05537021439\, \left( \cos \left( \theta \left( t \right) \right)
\sin \left( \alpha \left( t \right) \right) -\sin \left( \theta
\left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) \right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}W \left( t
\right) + 0.1000000000\, \left( - 0.7341739112\, \left( {\frac
{\rm d}{{\rm d}t}}W \left( t \right) \right) ^{2}- 0.7341739112\,W
\left( t \right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}W \left( t
\right) - 0.5537021440\, \left( {\frac {\rm d}{{\rm d}t}}\theta
\left( t \right) \right) {\frac {\rm d}{{\rm d}t}}W \left( t
\right) - 0.5537021440\,W \left( t \right) {\frac {{\rm d}^{2}}{
{\rm d}{t}^{2}}}\theta \left( t \right) + 0.5537021440\, \left( {
\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) \right) {\frac
{\rm d}{{\rm d}t}}W \left( t \right) + 0.5537021440\,W \left( t
\right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha \left( t \right)
\right) \cos \left( -\theta \left( t \right) +\alpha \left( t
\right) \right) + 0.05537021439\, \left( - \left( {\frac {{\rm d}^{2
}}{{\rm d}{t}^{2}}}\theta \left( t \right) \right) \sin \left( \theta
\left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) - \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right)
\right) ^{2}\cos \left( \theta \left( t \right) \right) \sin \left(
\alpha \left( t \right) \right) -2\, \left( {\frac {\rm d}{{\rm d}t}}
\theta \left( t \right) \right) \sin \left( \theta \left( t \right)
\right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right)
\right) \cos \left( \alpha \left( t \right) \right) +\cos \left(
\theta \left( t \right) \right) \left( {\frac {{\rm d}^{2}}{{\rm d}{
t}^{2}}}\alpha \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) -\cos \left( \theta \left( t \right) \right)
\left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) \right) ^{2}
\sin \left( \alpha \left( t \right) \right) - \left( {\frac {{\rm d}^
{2}}{{\rm d}{t}^{2}}}\theta \left( t \right) \right) \cos \left(
\theta \left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) + \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right)
\right) ^{2}\sin \left( \theta \left( t \right) \right) \cos \left(
\alpha \left( t \right) \right) +2\, \left( {\frac {\rm d}{{\rm d}t}}
\theta \left( t \right) \right) \cos \left( \theta \left( t \right)
\right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) +\sin \left(
\theta \left( t \right) \right) \left( {\frac {{\rm d}^{2}}{{\rm d}{
t}^{2}}}\alpha \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) +\sin \left( \theta \left( t \right) \right)
\left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) \right) ^{2}
\cos \left( \alpha \left( t \right) \right) \right) W \left( t
\right)
\end{dmath}
\end{document}
答案1
我会在这里简单地使用内联数学并禁用所有虚假的左和右
\documentclass{article}
\usepackage{amsmath}
\begin{document}
\begin{flushleft}\let\left\relax\let\right\relax
$
- 0.01348859649\, \left( {\frac {\rm d}{{\rm d}t}}W \left( t \right)
\right) ^{2}\sin \left( \theta \left( t \right) \right) \sin \left(
\alpha \left( t \right) \right) - 0.01348859649\, \left( {\frac
{\rm d}{{\rm d}t}}W \left( t \right) \right) ^{2}\cos \left( \theta
\left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) + 0.006744298252\, \left( W \left( t \right) \right) ^{2}
\cos \left( \theta \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) \right) ^{2}\cos \left( \alpha
\left( t \right) \right) + 0.006744298281\, \left( W \left( t
\right) \right) ^{2} \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t
\right) \right) ^{2}\cos \left( \theta \left( t \right) \right)
\cos \left( \alpha \left( t \right) \right) + 0.01218058698\,W
\left( t \right) \sin \left( \theta \left( t \right) \right)
\left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) \right) ^{2}
\cos \left( \alpha \left( t \right) \right) - 0.01462500000\, \left(
{\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) ^{2}\cos
\left( \theta \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) - 0.01462500000\,\cos \left( \theta \left( t
\right) \right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t
\right) \right) ^{2}\cos \left( \alpha \left( t \right) \right) -
0.1000000000\, \left( - 0.7341739112\,W \left( t \right) {\frac
{\rm d}{{\rm d}t}}W \left( t \right) - 0.5537021440\,W \left( t
\right) {\frac {\rm d}{{\rm d}t}}\theta \left( t \right) +
0.5537021440\,W \left( t \right) {\frac {\rm d}{{\rm d}t}}\alpha
\left( t \right) \right) \left( -{\frac {\rm d}{{\rm d}t}}\theta
\left( t \right) +{\frac {\rm d}{{\rm d}t}}\alpha \left( t \right)
\right) \sin \left( -\theta \left( t \right) +\alpha \left( t
\right) \right) - 0.1468347822\, \left( - \left( {\frac {\rm d}{
{\rm d}t}}\theta \left( t \right) \right) \sin \left( \theta \left( t
\right) \right) \cos \left( \alpha \left( t \right) \right) -\cos
\left( \theta \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) + \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t
\right) \right) \cos \left( \theta \left( t \right) \right) \sin
\left( \alpha \left( t \right) \right) +\sin \left( \theta \left( t
\right) \right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t
\right) \right) \cos \left( \alpha \left( t \right) \right)
\right) W \left( t \right) {\frac {\rm d}{{\rm d}t}}W \left( t
\right) + 0.1000000000\, \left( \left( 0.3670869556\, \left( W
\left( t \right) \right) ^{2}- 0.5000000000 \right) {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) + \left( - 0.3670869556\, \left( W
\left( t \right) \right) ^{2}+ 0.5000000000 \right) {\frac {\rm d}{
{\rm d}t}}\theta \left( t \right) + 0.5537021440\,{\frac {\rm d}{
{\rm d}t}}W \left( t \right) \right) \left( -{\frac {\rm d}{{\rm d}t
}}\theta \left( t \right) +{\frac {\rm d}{{\rm d}t}}\alpha \left( t
\right) \right) \cos \left( -\theta \left( t \right) +\alpha \left(
t \right) \right) - 0.01218058698\,W \left( t \right) \left( {\frac
{\rm d}{{\rm d}t}}\theta \left( t \right) \right) ^{2}\cos \left(
\theta \left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) + 0.1107404288\, \left( - \left( {\frac {\rm d}{{\rm d}t}}
\theta \left( t \right) \right) \sin \left( \theta \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) +\cos \left(
\theta \left( t \right) \right) \left( {\frac {\rm d}{{\rm d}t}}
\alpha \left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) - \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right)
\right) \cos \left( \theta \left( t \right) \right) \cos \left(
\alpha \left( t \right) \right) +\sin \left( \theta \left( t \right)
\right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) \right) {\frac
{\rm d}{{\rm d}t}}W \left( t \right) - 0.07341739112\, \left( \cos
\left( \theta \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) +\sin \left( \theta \left( t \right) \right) \sin
\left( \alpha \left( t \right) \right) \right) \left( {\frac
{\rm d}{{\rm d}t}}W \left( t \right) \right) ^{2}+ 2.258500000\,{
\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}x \left( t \right) + 0.02436117396
\, \left( {\frac {\rm d}{{\rm d}t}}W \left( t \right) \right) \cos
\left( \theta \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) +
0.006744298281\, \left( W \left( t \right) \right) ^{2} \left( {
\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) ^{2}\sin
\left( \theta \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) + 0.006744298252\, \left( W \left( t \right)
\right) ^{2}\sin \left( \theta \left( t \right) \right) \left( {
\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) \right) ^{2}\sin
\left( \alpha \left( t \right) \right) + 0.02925000000\, \left( {
\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) \cos \left(
\theta \left( t \right) \right) \left( {\frac {\rm d}{{\rm d}t}}
\alpha \left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) + 0.02925000000\, \left( {\frac {\rm d}{{\rm d}t}}\theta
\left( t \right) \right) \sin \left( \theta \left( t \right)
\right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) - 0.01218058698
\,W \left( t \right) \cos \left( \theta \left( t \right) \right)
\left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) \right) ^{2}
\sin \left( \alpha \left( t \right) \right) + 0.02436117396\, \left(
{\frac {\rm d}{{\rm d}t}}W \left( t \right) \right) \sin \left(
\theta \left( t \right) \right) \left( {\frac {\rm d}{{\rm d}t}}
\alpha \left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) + 0.05537021439\, \left( \cos \left( \theta \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) -\cos \left(
\alpha \left( t \right) \right) \sin \left( \theta \left( t \right)
\right) \right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}W \left( t
\right) + 0.1000000000\, \left( - 0.7341739112\, \left( {\frac
{\rm d}{{\rm d}t}}W \left( t \right) \right) ^{2}- 0.7341739112\,W
\left( t \right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}W \left( t
\right) - 0.5537021440\, \left( {\frac {\rm d}{{\rm d}t}}W \left( t
\right) \right) {\frac {\rm d}{{\rm d}t}}\theta \left( t \right) -
0.5537021440\,W \left( t \right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}
}\theta \left( t \right) + 0.5537021440\, \left( {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) \right) {\frac {\rm d}{{\rm d}t}}W
\left( t \right) + 0.5537021440\,W \left( t \right) {\frac {{\rm d}^{
2}}{{\rm d}{t}^{2}}}\alpha \left( t \right) \right) \cos \left( -
\theta \left( t \right) +\alpha \left( t \right) \right) +
0.1000000000\, \left( - \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}
\theta \left( t \right) \right) \sin \left( \theta \left( t \right)
\right) \cos \left( \alpha \left( t \right) \right) - \left( {\frac
{\rm d}{{\rm d}t}}\theta \left( t \right) \right) ^{2}\cos \left(
\theta \left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) +2\, \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right)
\right) \sin \left( \theta \left( t \right) \right) \left( {\frac
{\rm d}{{\rm d}t}}\alpha \left( t \right) \right) \sin \left( \alpha
\left( t \right) \right) -\cos \left( \theta \left( t \right)
\right) \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha \left( t
\right) \right) \sin \left( \alpha \left( t \right) \right) -\cos
\left( \theta \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) \right) ^{2}\cos \left( \alpha
\left( t \right) \right) + \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2
}}}\theta \left( t \right) \right) \cos \left( \theta \left( t
\right) \right) \sin \left( \alpha \left( t \right) \right) -
\left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) ^{2}
\sin \left( \theta \left( t \right) \right) \sin \left( \alpha
\left( t \right) \right) +2\, \left( {\frac {\rm d}{{\rm d}t}}\theta
\left( t \right) \right) \cos \left( \theta \left( t \right)
\right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right)
\right) \cos \left( \alpha \left( t \right) \right) +\sin \left(
\theta \left( t \right) \right) \left( {\frac {{\rm d}^{2}}{{\rm d}{
t}^{2}}}\alpha \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) -\sin \left( \theta \left( t \right) \right)
\left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) \right) ^{2}
\sin \left( \alpha \left( t \right) \right) \right) \left( 0.5-
0.3670869556\, \left( W \left( t \right) \right) ^{2} \right) +
0.05537021439\, \left( - \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}
\theta \left( t \right) \right) \sin \left( \theta \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) - \left( {\frac
{\rm d}{{\rm d}t}}\theta \left( t \right) \right) ^{2}\cos \left(
\theta \left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) -2\, \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right)
\right) \sin \left( \theta \left( t \right) \right) \left( {\frac
{\rm d}{{\rm d}t}}\alpha \left( t \right) \right) \cos \left( \alpha
\left( t \right) \right) +\cos \left( \theta \left( t \right)
\right) \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha \left( t
\right) \right) \cos \left( \alpha \left( t \right) \right) -\cos
\left( \theta \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) \right) ^{2}\sin \left( \alpha
\left( t \right) \right) - \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2
}}}\theta \left( t \right) \right) \cos \left( \theta \left( t
\right) \right) \cos \left( \alpha \left( t \right) \right) +
\left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) ^{2}
\sin \left( \theta \left( t \right) \right) \cos \left( \alpha
\left( t \right) \right) +2\, \left( {\frac {\rm d}{{\rm d}t}}\theta
\left( t \right) \right) \cos \left( \theta \left( t \right)
\right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right)
\right) \sin \left( \alpha \left( t \right) \right) +\sin \left(
\theta \left( t \right) \right) \left( {\frac {{\rm d}^{2}}{{\rm d}{
t}^{2}}}\alpha \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) +\sin \left( \theta \left( t \right) \right)
\left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t \right) \right) ^{2}
\cos \left( \alpha \left( t \right) \right) \right) W \left( t
\right) + 0.1000000000\, \left( 0.7341739112\,W \left( t \right)
\left( {\frac {\rm d}{{\rm d}t}}W \left( t \right) \right) {\frac
{\rm d}{{\rm d}t}}\alpha \left( t \right) + \left( 0.3670869556\,
\left( W \left( t \right) \right) ^{2}- 0.5000000000 \right) {\frac
{{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha \left( t \right) - 0.7341739112\,
W \left( t \right) \left( {\frac {\rm d}{{\rm d}t}}W \left( t
\right) \right) {\frac {\rm d}{{\rm d}t}}\theta \left( t \right) +
\left( - 0.3670869556\, \left( W \left( t \right) \right) ^{2}+
0.5000000000 \right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\theta
\left( t \right) + 0.5537021440\,{\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}
}W \left( t \right) \right) \sin \left( -\theta \left( t \right) +
\alpha \left( t \right) \right) - 0.02436117396\, \left( {\frac
{\rm d}{{\rm d}t}}W \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\theta \left( t \right) \right) \sin \left( \theta \left( t
\right) \right) \sin \left( \alpha \left( t \right) \right) -
0.02436117396\, \left( {\frac {\rm d}{{\rm d}t}}W \left( t \right)
\right) \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right)
\right) \cos \left( \theta \left( t \right) \right) \cos \left(
\alpha \left( t \right) \right) + 0.01218058698\,W \left( t \right)
\left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) ^{2}
\sin \left( \theta \left( t \right) \right) \cos \left( \alpha
\left( t \right) \right) + 0.02436117396\,W \left( t \right)
\left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) \cos
\left( \theta \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) + 0.02697719305\,W \left( t \right) \left( {\frac
{\rm d}{{\rm d}t}}\theta \left( t \right) \right) \sin \left( \theta
\left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) {\frac {\rm d}{{\rm d}t}}W \left( t \right) - 0.02436117396\,
W \left( t \right) \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t
\right) \right) \sin \left( \theta \left( t \right) \right) \cos
\left( \alpha \left( t \right) \right) {\frac {\rm d}{{\rm d}t}}
\alpha \left( t \right) - 0.02697719299\,W \left( t \right) \sin
\left( \theta \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) \right) \cos \left( \alpha \left( t
\right) \right) {\frac {\rm d}{{\rm d}t}}W \left( t \right) -
0.01348859653\, \left( W \left( t \right) \right) ^{2} \left( {
\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) \cos \left(
\theta \left( t \right) \right) \left( {\frac {\rm d}{{\rm d}t}}
\alpha \left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) - 0.02697719305\,W \left( t \right) \left( {\frac {\rm d}{
{\rm d}t}}\theta \left( t \right) \right) \cos \left( \theta \left( t
\right) \right) \sin \left( \alpha \left( t \right) \right) {\frac
{\rm d}{{\rm d}t}}W \left( t \right) + 0.02697719299\,W \left( t
\right) \cos \left( \theta \left( t \right) \right) \left( {\frac
{\rm d}{{\rm d}t}}\alpha \left( t \right) \right) \sin \left( \alpha
\left( t \right) \right) {\frac {\rm d}{{\rm d}t}}W \left( t
\right) - 0.01348859653\, \left( W \left( t \right) \right) ^{2}
\left( {\frac {\rm d}{{\rm d}t}}\theta \left( t \right) \right) \sin
\left( \theta \left( t \right) \right) \left( {\frac {\rm d}{
{\rm d}t}}\alpha \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) - 0.01462500000\,\sin \left( \theta \left( t
\right) \right) \left( {\frac {\rm d}{{\rm d}t}}\alpha \left( t
\right) \right) ^{2}\sin \left( \alpha \left( t \right) \right) -
0.01462500000\, \left( {\frac {\rm d}{{\rm d}t}}\theta \left( t
\right) \right) ^{2}\sin \left( \theta \left( t \right) \right)
\sin \left( \alpha \left( t \right) \right) + 0.006744298281\,
\left( W \left( t \right) \right) ^{2} \left( {\frac {{\rm d}^{2}}{
{\rm d}{t}^{2}}}\theta \left( t \right) \right) \sin \left( \theta
\left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) + 0.01218058698\,W \left( t \right) \sin \left( \theta
\left( t \right) \right) \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}
}}\alpha \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) - 0.01348859649\,W \left( t \right) \cos \left(
\theta \left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}W \left( t \right) -
0.01348859649\,W \left( t \right) \sin \left( \theta \left( t
\right) \right) \sin \left( \alpha \left( t \right) \right) {\frac
{{\rm d}^{2}}{{\rm d}{t}^{2}}}W \left( t \right) + 0.01218058698\,W
\left( t \right) \cos \left( \theta \left( t \right) \right) \cos
\left( \alpha \left( t \right) \right) {\frac {{\rm d}^{2}}{{\rm d}{
t}^{2}}}\alpha \left( t \right) - 0.006744298252\, \left( W \left( t
\right) \right) ^{2}\sin \left( \theta \left( t \right) \right)
\left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha \left( t \right)
\right) \cos \left( \alpha \left( t \right) \right) - 0.006744298281
\, \left( W \left( t \right) \right) ^{2} \left( {\frac {{\rm d}^{2}}
{{\rm d}{t}^{2}}}\theta \left( t \right) \right) \cos \left( \theta
\left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) - 0.01218058698\,W \left( t \right) \left( {\frac {{\rm d}^{
2}}{{\rm d}{t}^{2}}}\theta \left( t \right) \right) \sin \left(
\theta \left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) + 0.006744298252\, \left( W \left( t \right) \right) ^{2}
\cos \left( \theta \left( t \right) \right) \left( {\frac {{\rm d}^{
2}}{{\rm d}{t}^{2}}}\alpha \left( t \right) \right) \sin \left(
\alpha \left( t \right) \right) - 0.01218058698\,W \left( t \right)
\left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\theta \left( t \right)
\right) \cos \left( \theta \left( t \right) \right) \cos \left(
\alpha \left( t \right) \right) + 0.01218058698\,\cos \left( \theta
\left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}W \left( t \right) -
0.01218058698\,\cos \left( \alpha \left( t \right) \right) \sin
\left( \theta \left( t \right) \right) {\frac {{\rm d}^{2}}{{\rm d}{
t}^{2}}}W \left( t \right) - 0.07341739112\, \left( \cos \left( \theta
\left( t \right) \right) \cos \left( \alpha \left( t \right)
\right) +\sin \left( \theta \left( t \right) \right) \sin \left(
\alpha \left( t \right) \right) \right) W \left( t \right) {\frac {
{\rm d}^{2}}{{\rm d}{t}^{2}}}W \left( t \right) - 0.01462500000\,
\left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\theta \left( t \right)
\right) \sin \left( \theta \left( t \right) \right) \cos \left(
\alpha \left( t \right) \right) - 0.01462500000\,\cos \left( \theta
\left( t \right) \right) \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}
}}\alpha \left( t \right) \right) \sin \left( \alpha \left( t
\right) \right) + 0.01462500000\, \left( {\frac {{\rm d}^{2}}{
{\rm d}{t}^{2}}}\theta \left( t \right) \right) \cos \left( \theta
\left( t \right) \right) \sin \left( \alpha \left( t \right)
\right) + 0.01462500000\,\sin \left( \theta \left( t \right)
\right) \left( {\frac {{\rm d}^{2}}{{\rm d}{t}^{2}}}\alpha \left( t
\right) \right) \cos \left( \alpha \left( t \right) \right)
$
\end{flushleft}
\end{document}