I caculated the derivative of this velocity equation by hand. Can someone check it for me using some math software?

0 = -a2*sin(theta2)*cos(theta4)*d(theta2)/dt - a2*cos(theta2)*sin(theta4)*d(theta4)/dt + a2*cos(theta2)*sin(theta4)*d(theta2)/dt + a2*sin(theta2)*cos(theta4)*d(theta4)/dt + a1*sin(theta4)*d(theta4)/dt

a1 and a2 are constants. I need to solve for d^2(theta4)/dt^2 (or the angular acceleration or theta4_double_dot).

Thanks!