Simplification Simply Won't be Simple

Turns out analytically solving for acceleration is a little more complicated than anticipated. This largely has to do with the fact that I now have a homogeneous transformation matrix, A, to rotate one vector from the frame of reference of the platform to the frame of reference of the base. The matrix is a function of the hexapod's position in space which is a function of the path variable (how far along the path the hexapod is) which is a function of time. And then you take two derivatives to get acceleration, and all of a sudden it's a giant mess of partial derivatives. A GIANT mess.