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dZ1e*de0e1ede+e1je1je0fZ2ee)j ee)j  ee)j  Z3e'4eeej  dS )    Nabnzx1 x2 x3lT)realcdZpo1Zpo2Zpo3Zl_ptmZp1Zp1_ptZp2Zp2_ptZp3Zp3_ptZs_cmZs_fsZr1_cmZr1_fZr1Zr2_cmZr2_fZr2)5Zsympy.physics.mechanicsZphysicsZ	mechanicsZ_meZsympyZ_smZmathr	   ZnumpyZ_npZReferenceFrameZframe_aZframe_bZframe_nZdynamicsymbolsZx1Zx2Zx3symbolsr   xyzZv1Zv2Zv3vZPointZpoint_cZpoint_dZ	point_po1Z	point_po2Z	point_po3ZParticleZSymbolZ
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