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(t, g, v0, theta) |--> g^2*t^3 - 3*g*t^2*v0*sin(theta) + 2*t*v0^2
(t, g, v0, theta) |--> t*v0^2*cos(theta)^2 + 1/2*(g*t - v0*sin(theta))*(g*t^2 - 2*t*v0*sin(theta))
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