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- -cos(a3) (cos(a2) sin(a1) + cos(a1) sin(a2))
- -cos(a3) sin(a1 + a2)
- sin(a+b) = sin(a)*cos(b)+sin(b)*cos(a)
- (-Cos[a3] (Cos[a2] Sin[a1] + Cos[a1] Sin[a2]))
- In[1]:= Simplify[(-Cos[a3] (Cos[a2] Sin[a1] + Cos[a1] Sin[a2]))]
- Out[1]= -(Cos[a3] Sin[a1 + a2])
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