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I've gotten as far as the two euler-lagrange differential equations, simplified to this:

K

_{1}[itex]\ddot{θ}[/itex]

_{1}+ K

_{2}[itex]\ddot{θ}[/itex]

_{2}cos(θ

_{1}- θ

_{2}) + K

_{3}[itex]\dot{θ}[/itex]

_{2}

^{2}sin(θ

_{1}- θ

_{2}) + K

_{4}sin(θ

_{1}) = 0

K

_{5}[itex]\ddot{θ}[/itex]

_{2}+ K

_{6}[itex]\ddot{θ}[/itex]

_{1}cos(θ

_{1}- θ

_{2}) + K

_{7}[itex]\dot{θ}[/itex]

_{1}

^{2}sin(θ

_{1}- θ

_{2}) + K

_{8}sin(θ

_{2}) = 0

Assuming initial conditions [itex]\ddot{θ}[/itex]

_{1o}, [itex]\dot{θ}[/itex]

_{1o}, θ

_{1o}, [itex]\ddot{θ}[/itex]

_{2o}, [itex]\dot{θ}[/itex]

_{2o}, θ

_{2o}

What would these equations of motion be?

θ

_{1}(t) =

θ

_{2}(t) =

I was told it could be done in matlab but I don't have the software or know how to use it yet so any help would be appreciated. Step-by-step solution would be even better. Thanks in advance.