-1/2 a^{a2}_{a0,a1,v0} b^{a3}_{} lambda2^{a0,a1}_{a2,a3} a+(v0)
+a^{a1}_{a0,a2,v0} b^{a3}_{} gamma1^{a2}_{a3} a+(a0) a+(v0) a-(a1)