clear


syms x1 x2 x3 x4 v1 v3


p2=-2-10.2*sin(x2)-10*v3*sin(x2-x3)-10*sin(x2-x4)
q2=-10.2*sin(x2)+30-10*v3*cos(x2-x3)-10*cos(x2-x4)

p3=-2-10*v3*sin(x3-x2)
q3=-10*(v3)^2-10*v3*cos(x3-x2)


p4=-1-10*sin(x4-x2)
q4=-10+10*cos(x4-x2)

f=[diff(p2,x2) diff(p2,x3) diff(p2,x4) diff(p2,v3) diff(p2,x1) diff(p2,v1)
diff(q2,x2) diff(q2,x3) diff(q2,x4) diff(q2,v3) diff(q2,x1) diff(q2,v1)
diff(p3,x2) diff(p3,x3) diff(p3,x4) diff(p3,v3) diff(p3,x1) diff(p3,v1)
diff(q3,x2) diff(q3,x3) diff(q3,x4) diff(q3,v3) diff(q3,x1) diff(q3,v1)
diff(p4,x2) diff(p4,x3) diff(p4,x4) diff(p4,v3) diff(p4,x1) diff(p4,v1)
diff(q4,x2) diff(q4,x3) diff(q4,x4) diff(q4,v3) diff(q4,x1) diff(q4,v1)]

f =

[ -51/5*cos(x2)-10*v3*cos(x2-x3)-10*cos(x2-x4), 10*v3*cos(x2-x3), 10*cos(x2-x4), -10*sin(x2-x3), 0, 0]
[ -51/5*cos(x2)+10*v3*sin(x2-x3)+10*sin(x2-x4), -10*v3*sin(x2-x3), -10*sin(x2-x4), -10*cos(x2-x3), 0, 0]
[ 10*v3*cos(x2-x3), -10*v3*cos(x2-x3), 0, 10*sin(x2-x3), 0, 0]
[ 10*v3*sin(x2-x3), -10*v3*sin(x2-x3), 0, -20*v3-10*cos(x2-x3), 0, 0]
[ 10*cos(x2-x4), 0, -10*cos(x2-x4), 0, 0, 0]
[ -10*sin(x2-x4), 0, 10*sin(x2-x4), 0, 0, 0]