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a1*x2+b2*x1-c*cos(int(x3))*x4=d

-c*cos(int(x3))*x2-a2*sin(int(x3))+b2*x4=0

where a1,b2,c,d,a2,b2 are constants and x1=theta_dot; x2=theta_ddot; x3=alpha_dot; x4=alpha_ddot

I want to solve these equations for x1,x2,x3,x4 and want to plot with time.