I have corrected equation (11) in homework sheet 2. The third term in the second equation of (11) should have (theta_3 - theta_2) as an argument for the sine instead of the (theta_2 - theta_3) that was there before. If you tried with the old version, you'll notice that the change of variables won't quite work.
This sheet was a bit buggy with typos. Sorry about that.
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