TeX source:

=\dfrac{nc_rI_p}{2}[T_RD_R+D_cM_2−2MDR]+c_rI_p[(\dfrac{(p_mT_s−nD_R)^2}{2D_c} + (p_mT_s−nD_R)M+\dfrac{D_cM^2}{2}]