## 15 Reputation

9 years, 279 days

## Thank you...

Thank you for refering the Hypergeom it does explain things a bit more :)

## Thank you...

Thank you for refering the Hypergeom it does explain things a bit more :)

## Thank you for pointing that out :)...

I have converted the solution using simplify and I got a bessel and gamma functions.

Thank you again

## Thank you for pointing that out :)...

I have converted the solution using simplify and I got a bessel and gamma functions.

Thank you again

## Thanks a lot for trying my code...

It appeared to be a maple 13 problem with the  optimize command which was fixed in maple 14 so I ran it on maple 14 and it did work thanks again this was a big hurdle to me .

## Thanks a lot for trying my code...

It appeared to be a maple 13 problem with the  optimize command which was fixed in maple 14 so I ran it on maple 14 and it did work thanks again this was a big hurdle to me .

## Sorry I didn't know that I can include m...

Sorry I didn't know that I can include my code here thanks PatrickT 1174

but I managed to differentiate using theta(t) now the question is how to collect all the thetadots and put them in  a vector .THANKS

> M := Vector(4, {(1) = (-cos(theta[1](t))*cos(theta[2](t))*sin(theta[3](t))+cos(theta[1](t))*sin(theta[2](t))*cos(theta[3](t)))*(d[4]+rho*sin((1/2)*theta[4](t)))+sin(theta[1](t))*(d[3]+rho*sin((1/2)*theta[3](t)))+cos(theta[1](t))*a[2]*cos(theta[2])-sin(theta[1](t))*(d[2]+rho*sin((1/2)*theta[2](t))), (2) = (-sin(theta[1](t))*cos(theta[2](t))*sin(theta[3](t))+sin(theta[1](t))*sin(theta[2](t))*cos(theta[3](t)))*(d[4]+rho*sin((1/2)*theta[4](t)))-cos(theta[1](t))*(d[3]+rho*sin((1/2)*theta[3](t)))+sin(theta[1](t))*a[2]*cos(theta[2](t))+cos(theta[1](t))*(d[2]+rho*sin((1/2)*theta[2](t))), (3) = (sin(theta[2](t))*sin(theta[3](t))+cos(theta[2](t))*cos(theta[3](t)))*(d[4]+rho*sin((1/2)*theta[4](t)))-a[2]*sin(theta[2](t))+d[1]+rho*sin((1/2)*theta[1](t)), (4) = 1});

> x := map(diff, M, t);
print(`output redirected...`); # input placeholder
Vector[column](%id = 151375564)

 Page 1 of 1
﻿