import sympy.physics.mechanics as _me
import sympy as _sm
import math as m
import numpy as _np

frame_n = _me.ReferenceFrame('n')
frame_a = _me.ReferenceFrame('a')
a = 0
d = _me.inertia(frame_a, 1, 1, 1)
point_po1 = _me.Point('po1')
point_po2 = _me.Point('po2')
particle_p1 = _me.Particle('p1', _me.Point('p1_pt'), _sm.Symbol('m'))
particle_p2 = _me.Particle('p2', _me.Point('p2_pt'), _sm.Symbol('m'))
c1, c2, c3 = _me.dynamicsymbols('c1 c2 c3')
c1_d, c2_d, c3_d = _me.dynamicsymbols('c1_ c2_ c3_', 1)
body_r_cm = _me.Point('r_cm')
body_r_cm.set_vel(frame_n, 0)
body_r_f = _me.ReferenceFrame('r_f')
body_r = _me.RigidBody('r', body_r_cm, body_r_f, _sm.symbols('m'), (_me.outer(body_r_f.x,body_r_f.x),body_r_cm))
point_po2.set_pos(particle_p1.point, c1*frame_a.x)
v = 2*point_po2.pos_from(particle_p1.point)+c2*frame_a.y
frame_a.set_ang_vel(frame_n, c3*frame_a.z)
v = 2*frame_a.ang_vel_in(frame_n)+c2*frame_a.y
body_r_f.set_ang_vel(frame_n, c3*frame_a.z)
v = 2*body_r_f.ang_vel_in(frame_n)+c2*frame_a.y
frame_a.set_ang_acc(frame_n, (frame_a.ang_vel_in(frame_n)).dt(frame_a))
v = 2*frame_a.ang_acc_in(frame_n)+c2*frame_a.y
particle_p1.point.set_vel(frame_a, c1*frame_a.x+c3*frame_a.y)
body_r_cm.set_acc(frame_n, c2*frame_a.y)
v_a = _me.cross(body_r_cm.acc(frame_n), particle_p1.point.vel(frame_a))
x_b_c = v_a
x_b_d = 2*x_b_c
a_b_c_d_e = x_b_d*2
a_b_c = 2*c1*c2*c3
a_b_c += 2*c1
a_b_c  =  3*c1
q1, q2, u1, u2 = _me.dynamicsymbols('q1 q2 u1 u2')
q1_d, q2_d, u1_d, u2_d = _me.dynamicsymbols('q1_ q2_ u1_ u2_', 1)
x, y = _me.dynamicsymbols('x y')
x_d, y_d = _me.dynamicsymbols('x_ y_', 1)
x_dd, y_dd = _me.dynamicsymbols('x_ y_', 2)
yy = _me.dynamicsymbols('yy')
yy = x*x_d**2+1
m = _sm.Matrix([[0]])
m[0] = 2*x
m = m.row_insert(m.shape[0], _sm.Matrix([[0]]))
m[m.shape[0]-1] = 2*y
a = 2*m[0]
m = _sm.Matrix([1,2,3,4,5,6,7,8,9]).reshape(3, 3)
m[0,1] = 5
a = m[0, 1]*2
force_ro = q1*frame_n.x
torque_a = q2*frame_n.z
force_ro = q1*frame_n.x + q2*frame_n.y
f = force_ro*2