simplifying the formula symbols

Dear Friends,

I am working on some robots that have realy complex matrices.

How i can show my last resualt in symplified symbol such as : display M=[cos(tetta1), sin(tetta2)] matrix as bellow,

M=[c1 s1]

Answer 1

[KSSV]

syms t1 t2 
M=[cos(t1), sin(t2)]