\frac{2t^5}{15}-\frac{2t^{4}}{9}-\frac{1}{9}e^{-3t}t^3+\frac{8t^3}{27}-\frac{1}{9}e^{-3t}t^2-\frac{8t^2}{27}-\frac{2}{27}e^{-3t}t+\frac{16t}{81}-\frac{1}{18}\sin \left(3t\right)-\frac{1}{18}\cos \left(3t\right)