1 | initial version |

You have to specify the derivation variable t:

```
sage: diff(psi,t)
v(t)*D[0](delta)(t)/l + sin(delta(t))^2*v(t)*D[0](delta)(t)/(l*cos(delta(t))^2) + sin(delta(t))*D[0](v)(t)/(l*cos(delta(t)))
```

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