dTdq := subs(q1= q1(t), q2= q2(t), q3= q3(t), q4= q4(t), q5= q5(t), q6= q6(t),
             vq1=diff(q1(t), t), vq2=diff(q2(t), t), vq3=diff(q3(t), t),
             vq4=diff(q4(t), t), vq5=diff(q5(t), t), vq6=diff(q6(t), t), dTdq):