
       2
 - a*u

                      2  2
cos(x(1))*sin(x(1))*a *u

    2
a*u

                      2  2
cos(x(1))*sin(x(1))*a *u

                         2  2
 - cos(x(1))*sin(x(1))*a *u

             2    2
 - sin(x(1)) *a*u

          2    2
sin(x(1)) *a*u

    2
a*u

          2    2
sin(x(1)) *a*u

