t0 = C1*Z2 t1 = S2*t0 t2 = D1*t1 t3 = S1*D2 t4 = C2*t3 t5 = Z1*t4 S3 = t5+t2 t6 = S1*D2 t7 = S2*t6 t8 = D1*t7 t9 = C1*Z2 t10 = C2*t9 t11 = Z1*t10 C3 = t11-t8 t12 = S2*C2 t13 = C1*t12 t14 = S1*t13 t15 = a*t14 t16 = Z2*D2 t17 = D1*t16 t18 = Z1*t17 D3 = t18-t15 t19 = D1*S2 t20 = Z1*C2 t21 = t20^2 t22 = t19^2 Z3 = t21+t22