how to include both the positive and negative sign for a given expression

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prajwal prabhu
prajwal prabhu on 14 Feb 2020
Commented: prajwal prabhu on 3 Apr 2020
I am working on inverse kinematic problem for a planar 3r robot where i needed to include the following expression.
i am not able to figure out how to incorporate +,- sign to the expression.
any help in this regard is appreciated

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