Y =

                                                                                                                                                                                                                                                                                                           (196*cos(a)*cos(b)^2*sin(a)*sin(theta))/25 - (98*cos(a)*sin(a)*sin(theta))/75 - (R*ad*gd*cos(a))/5 + R*ad^2*cos(a)*cos(b)^3 - (196*cos(a)*cos(b)*sin(b)*cos(theta))/25 + R*bd^2*cos(a)*cos(b) - (R*ad*bd*sin(a)*sin(b))/3 + (6*R*ad*gd*cos(a)*cos(b)^2)/5


                       (98*cos(a)^2*cos(theta)*sin(theta))/75 - (98*sin(2*theta))/25 + (392*cos(b)^2*cos(theta)*sin(theta))/25 + (196*cos(b)*sin(a)*sin(b))/25 - (392*cos(b)*sin(a)*sin(b)*cos(theta)^2)/25 + R*bd^2*sin(b)*sin(theta) - (196*cos(a)^2*cos(b)^2*cos(theta)*sin(theta))/25 - (R*ad*gd*sin(a)*cos(theta))/5 + R*ad^2*cos(b)^3*sin(a)*cos(theta) - R*ad^2*sin(b)*sin(theta)*(sin(b)^2 - 1) + R*bd^2*cos(b)*sin(a)*cos(theta) + (6*R*ad*gd*cos(b)^2*sin(a)*cos(theta))/5 + (R*ad*bd*cos(a)*sin(b)*cos(theta))/3 + (6*R*ad*gd*cos(b)*sin(b)*sin(theta))/5


 (98*cos(a)^2)/75 + (196*cos(b)^2)/25 + (196*cos(theta)^2)/25 - (196*cos(a)^2*cos(b)^2)/25 - (98*cos(a)^2*cos(theta)^2)/75 - (392*cos(b)^2*cos(theta)^2)/25 + (196*cos(a)^2*cos(b)^2*cos(theta)^2)/25 - R*bd^2*sin(b)*cos(theta) - (R*ad*gd*sin(a)*sin(theta))/5 - R*ad^2*cos(b)^2*sin(b)*cos(theta) + R*ad^2*cos(b)^3*sin(a)*sin(theta) - (392*cos(b)*sin(a)*sin(b)*cos(theta)*sin(theta))/25 + R*bd^2*cos(b)*sin(a)*sin(theta) + (6*R*ad*gd*cos(b)^2*sin(a)*sin(theta))/5 - (6*R*ad*gd*cos(b)*sin(b)*cos(theta))/5 + (R*ad*bd*cos(a)*sin(b)*sin(theta))/3 - 196/25
                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    (2*bd*gd)/sin(b)
                                                                                                                                                                                                                                                                                                                                                                                                                                                        -(25*R*cos(b)*sin(b)*ad^2 + 30*R*gd*sin(b)*ad + 196*cos(b)*cos(theta) + 196*sin(a)*sin(b)*sin(theta))/(25*R)
                                                                                                                                                                                                                                                                                                                                                                                                            (98*cos(a)*cos(b)^2*sin(theta) - 98*cos(a)*sin(theta) - 25*R*ad*bd*sin(b) + 30*R*bd*gd*cos(b)*sin(b) + 25*R*ad*bd*cos(b)^2*sin(b))/(15*R*(cos(b)^2 - 1))