Yes. While still shorter than the original `(24*sin(q2)**2/(m*r**2*(5*sin(q2)**2 + 1)*cos(q2)**2) + 4/(m*r**2*(5*sin(q2)**2 + 1)))*(-5*m*r**2*(sin(q2)*q1' + q3')*cos(q2)*q2'/4 - 5*m*r**2*sin(q2)*cos(q2)*q1'*q2'/4 - m*r**2*cos(q2)*q2'*q3'/4) + 6*sin(q2)*q1'*q2'/cos(q2)` it pains me to have lost this nice simplification...that's why I added it as an XFAIL test.