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\frac{1}{2} \int_{-1}^{3} [(t^2-2t+3)(3t^2-2t-5) - (t^3-t^2-5t+4)(2t-2)] dt
\frac{1}{2} \int_{-1}^{3} [(t^2-2t+3)(3t^2-2t-5) - (t^3-t^2-5t+4)(2t-2)] dt
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