l1**2*m1*sin(theta1(t))**2*Derivative(theta1(t), t, t) + l1**2*m1*cos(theta1(t))**2*Derivative(theta1(t), t, t) + l1**2*m2*sin(theta1(t))**2*Derivative(theta1(t), t, t) + l1**2*m2*cos(theta1(t))**2*Derivative(theta1(t), t, t) - m3*(l1*cos(theta1(t)) + l2*cos(theta1(t) + theta2(t)) - l3*sin(theta1(t) + theta2(t) + theta3(t)))*(l1*sin(theta1(t))*Derivative(theta1(t), t)**2 - l1*cos(theta1(t))*Derivative(theta1(t), t, t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))**2*sin(theta1(t) + theta2(t)) - l2*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))**2*cos(theta1(t) + theta2(t) + theta3(t)) + l3*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t) + Derivative(theta3(t), t, t))*sin(theta1(t) + theta2(t) + theta3(t))) - m3*(l1*cos(theta1(t)) + l2*cos(theta1(t) + theta2(t)) + l3*cos(theta1(t) + theta2(t) + theta3(t)))*(l1*sin(theta1(t))*Derivative(theta1(t), t)**2 - l1*cos(theta1(t))*Derivative(theta1(t), t, t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))**2*sin(theta1(t) + theta2(t)) - l2*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))**2*sin(theta1(t) + theta2(t) + theta3(t)) - l3*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t) + Derivative(theta3(t), t, t))*cos(theta1(t) + theta2(t) + theta3(t))) - m3*(l1*sin(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*sin(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t)))*(l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t))) - m3*(l1*sin(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*sin(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t)))*(l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) - l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t)))
-m3*((l2*cos(theta1(t) + theta2(t)) - l3*sin(theta1(t) + theta2(t) + theta3(t)))*(l1*sin(theta1(t))*Derivative(theta1(t), t)**2 - l1*cos(theta1(t))*Derivative(theta1(t), t, t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))**2*sin(theta1(t) + theta2(t)) - l2*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))**2*cos(theta1(t) + theta2(t) + theta3(t)) + l3*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t) + Derivative(theta3(t), t, t))*sin(theta1(t) + theta2(t) + theta3(t))) + (l2*cos(theta1(t) + theta2(t)) + l3*cos(theta1(t) + theta2(t) + theta3(t)))*(l1*sin(theta1(t))*Derivative(theta1(t), t)**2 - l1*cos(theta1(t))*Derivative(theta1(t), t, t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))**2*sin(theta1(t) + theta2(t)) - l2*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))**2*sin(theta1(t) + theta2(t) + theta3(t)) - l3*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t) + Derivative(theta3(t), t, t))*cos(theta1(t) + theta2(t) + theta3(t))) + (l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*sin(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t)))*(l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t))) + (l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*sin(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t)))*(l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) - l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t))))
-m3*((l2*cos(theta1(t) + theta2(t)) - l3*sin(theta1(t) + theta2(t) + theta3(t)))*(l1*sin(theta1(t))*Derivative(theta1(t), t)**2 - l1*cos(theta1(t))*Derivative(theta1(t), t, t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))**2*sin(theta1(t) + theta2(t)) - l2*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))**2*cos(theta1(t) + theta2(t) + theta3(t)) + l3*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t) + Derivative(theta3(t), t, t))*sin(theta1(t) + theta2(t) + theta3(t))) + (l2*cos(theta1(t) + theta2(t)) + l3*cos(theta1(t) + theta2(t) + theta3(t)))*(l1*sin(theta1(t))*Derivative(theta1(t), t)**2 - l1*cos(theta1(t))*Derivative(theta1(t), t, t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))**2*sin(theta1(t) + theta2(t)) - l2*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))**2*sin(theta1(t) + theta2(t) + theta3(t)) - l3*(Derivative(theta1(t), t, t) + Derivative(theta2(t), t, t) + Derivative(theta3(t), t, t))*cos(theta1(t) + theta2(t) + theta3(t))) + (l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*sin(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t)))*(l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t))) + (l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*sin(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t)))*(l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) - l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t))))
g*l1*m1*sin(theta1(t)) + g*m2*(l1*sin(theta1(t)) + l2*sin(theta1(t) + theta2(t))) - g*m3*(l1*cos(theta1(t)) + l2*cos(theta1(t) + theta2(t)) - l3*sin(theta1(t) + theta2(t) + theta3(t))) - m3*(l1*sin(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*sin(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t)))*(l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t))) - m3*(l1*sin(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*sin(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t)))*(l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) - l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t)))
g*l2*m2*sin(theta1(t) + theta2(t)) - g*m3*(l2*cos(theta1(t) + theta2(t)) - l3*sin(theta1(t) + theta2(t) + theta3(t))) - m3*(l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*sin(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t)))*(l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t))) - m3*(l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*sin(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t)))*(l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) - l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t)))
l3*m3*(g*sin(theta1(t) + theta2(t) + theta3(t)) - (l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) - l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t)))*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t)) - (l1*cos(theta1(t))*Derivative(theta1(t), t) + l2*(Derivative(theta1(t), t) + Derivative(theta2(t), t))*cos(theta1(t) + theta2(t)) + l3*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*cos(theta1(t) + theta2(t) + theta3(t)))*(Derivative(theta1(t), t) + Derivative(theta2(t), t) + Derivative(theta3(t), t))*sin(theta1(t) + theta2(t) + theta3(t)))