... h11=((m1/3)+m2)*a1 ^2+ (1/3)*m2*a2 ^2+ m2*a1*a2*c2; h 12= (1/3)*m2*a2 ^2+ (1 /2) *m2*a1*a2*c2; h21=h 12; h 22= (1/3)*m2*a2 ^2; H=[h11,h 12; h21,h 22] ; %vector momen nhot V(q,v) j1=-m2*a1*a2*s2*x 12* x2 2- 0 .5*m2*a1*a2*s2*x 22^ 2; j2=0.5*m2*a1*a2*s2*x 12^ 2; ... h 12= (1/3)*m2*a2 ^2+ (1 /2) *m2*a1*a2*c2; h21=h 12; h 22= (1/3)*m2*a2 ^2; H=[h11,h 12; h21,h 22] ; %vector momen nhot V(q,v) j1=-m2*a1*a2*s2*x 12* x2 2- 0 .5*m2*a1*a2*s2*x 22^ 2; j2=0.5*m2*a1*a2*s2*x 12^ 2; V=[j1;j2]; % ... qd1=a01+a11*t+a21*t ^2+ a31*t^3; vd1=a11 +2* a21*t+3*a31*t ^2; ad1 =2* a21+6*a31*t; a 02= q0 (2) ;a 12= 0;a 22= 3*(qc (2) -q0 (2) )/tc ^2; a 32 = -2 *(qc (2) -q0 (2) )/tc^3; qd2=a 02+ a 12* t+a 22* t ^2+ a 32* t^3; vd2=a 12+ 2*a 22* t+3*a 32* t ^2; ad2 =2* a 22+ 6*a 32* t;...