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OpenStudy (anonymous):
help form Mathematica users: The first and second derv. of this funciton: x = la*cos(th1)+lb*cos(th1)*cos(th2)-lb*sin(th1)*sin(th2) , with respect to th1 y = la*sin(th1)+lb*sin(th1)*cos(th2)+lb*cos(th1)*sin(th2), with respect to th1
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