Y add 9.81 mul x_1 div sub mul 7.6000000000000005 cos add -0.115 mul 0.387 x_4 sub mul 3.0100000000000002 x_4 mul -0.6950000000000001 div cos add 0.762 mul -8.22 x_1 add mul 96.2 x_2 mul -6.76 cos add -0.036000000000000004 mul -2.8000000000000003 x_0 x_3