Initial program 16.8
\[\cos^{-1} \left(\sin \phi_1 \cdot \sin \phi_2 + \left(\cos \phi_1 \cdot \cos \phi_2\right) \cdot \cos \left(\lambda_1 - \lambda_2\right)\right) \cdot R\]
- Using strategy
rm
Applied sub-neg 16.8
\[\leadsto \cos^{-1} \left(\sin \phi_1 \cdot \sin \phi_2 + \left(\cos \phi_1 \cdot \cos \phi_2\right) \cdot \cos \color{blue}{\left(\lambda_1 + \left(-\lambda_2\right)\right)}\right) \cdot R\]
Applied cos-sum 3.8
\[\leadsto \cos^{-1} \left(\sin \phi_1 \cdot \sin \phi_2 + \left(\cos \phi_1 \cdot \cos \phi_2\right) \cdot \color{blue}{\left(\cos \lambda_1 \cdot \cos \left(-\lambda_2\right) - \sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)}\right) \cdot R\]
Applied simplify 3.8
\[\leadsto \cos^{-1} \left(\sin \phi_1 \cdot \sin \phi_2 + \left(\cos \phi_1 \cdot \cos \phi_2\right) \cdot \left(\color{blue}{\cos \lambda_1 \cdot \cos \lambda_2} - \sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)\right) \cdot R\]
- Using strategy
rm
Applied flip3-- 3.9
\[\leadsto \cos^{-1} \left(\sin \phi_1 \cdot \sin \phi_2 + \left(\cos \phi_1 \cdot \cos \phi_2\right) \cdot \color{blue}{\frac{{\left(\cos \lambda_1 \cdot \cos \lambda_2\right)}^{3} - {\left(\sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)}^{3}}{{\left(\cos \lambda_1 \cdot \cos \lambda_2\right)}^2 + \left({\left(\sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)}^2 + \left(\cos \lambda_1 \cdot \cos \lambda_2\right) \cdot \left(\sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)\right)}}\right) \cdot R\]
Applied associate-*r/ 3.9
\[\leadsto \cos^{-1} \left(\sin \phi_1 \cdot \sin \phi_2 + \color{blue}{\frac{\left(\cos \phi_1 \cdot \cos \phi_2\right) \cdot \left({\left(\cos \lambda_1 \cdot \cos \lambda_2\right)}^{3} - {\left(\sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)}^{3}\right)}{{\left(\cos \lambda_1 \cdot \cos \lambda_2\right)}^2 + \left({\left(\sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)}^2 + \left(\cos \lambda_1 \cdot \cos \lambda_2\right) \cdot \left(\sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)\right)}}\right) \cdot R\]
Applied simplify 3.9
\[\leadsto \cos^{-1} \left(\sin \phi_1 \cdot \sin \phi_2 + \frac{\color{blue}{\left(\cos \phi_2 \cdot \cos \phi_1\right) \cdot \left({\left(\cos \lambda_2 \cdot \cos \lambda_1\right)}^3 - {\left(\sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)}^3\right)}}{{\left(\cos \lambda_1 \cdot \cos \lambda_2\right)}^2 + \left({\left(\sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)}^2 + \left(\cos \lambda_1 \cdot \cos \lambda_2\right) \cdot \left(\sin \lambda_1 \cdot \sin \left(-\lambda_2\right)\right)\right)}\right) \cdot R\]
- Removed slow pow expressions