Define expr_y to be a correct symbolic representation of the prescribed linearisation given in the practice tasks (). Use the strings "M1","M2",and "R" for your symbols (e.g. SM1=sp.Symbol("M1"), etc. and expr_y=some mix of symbols )

After doing, so print expy_y by using (exactly) the line "print(expr_y)."

Lastly, copy and paste your output (directly and without any editing) into the text box below. NOTE: Only copy the output of the print statement, ignore any other output your code might produce.