Abrimos la expresión
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cos(p + a) /p \
------------ + sin|- + a|
sin(a - 2*p) \2 /
sin(a+2p)+sin(a−2p)cos(a+p)
/p\ /p\ cos(a)*cos(p) sin(a)*sin(p)
cos(a)*sin|-| + cos|-|*sin(a) + --------------------------------------------------- - ---------------------------------------------------
\2/ \2/ 2 2
-sin(a) + 2*cos (p)*sin(a) - 2*cos(a)*cos(p)*sin(p) -sin(a) + 2*cos (p)*sin(a) - 2*cos(a)*cos(p)*sin(p)
sin(a)cos(2p)+sin(2p)cos(a)−2sin(a)cos2(p)−sin(a)−2sin(p)cos(a)cos(p)sin(a)sin(p)+2sin(a)cos2(p)−sin(a)−2sin(p)cos(a)cos(p)cos(a)cos(p)
cos(a)*sin(p/2) + cos(p/2)*sin(a) + cos(a)*cos(p)/(-sin(a) + 2*cos(p)^2*sin(a) - 2*cos(a)*cos(p)*sin(p)) - sin(a)*sin(p)/(-sin(a) + 2*cos(p)^2*sin(a) - 2*cos(a)*cos(p)*sin(p))