>> syms theta1 theta2 theta3 dtheta1 dtheta2 dtheta3 ddtheta1 ddtheta2 ddtheta3;

>> L1 = 1;

>> L2 = 0.8;

>> L3 = 0.5;

>> m1 = 1;

>> m2 = 1.5;

>> m3 = 0.5;

>> F = cos(3t);

>> syms t;

>> F = cos(3*t);

>> eq1 = ddtheta1 == (ddtheta2)*((-m2*L2*cos(theta1-theta2)-m3*L2*cos(theta1-

theta2))/L1*(m1+m2+m3)) + (ddtheta3)*((-m3*L3*cos(theta1-theta3))/L1*(m1+m2+m3)) +
(dtheta2)*((-m2*L2*dtheta2*sin(theta1-theta2)-m3*L2*dtheta2*sin(theta1-
theta2))/L1*(m1+m2+m3)) + (dtheta3)*((-m1*L3*dtheta3*sin(theta1-theta3))/L1*(m1+m2+m3)) -
(9.8)*(sin(theta1)/L1) + (F/(L1*L1*(m1+m2+m3)));

>> eq2 = ddtheta2 == (ddtheta1)*((-m2*L1*cos(theta1-theta2)-m3*L1*cos(theta1-

theta2))/L2*(m2+m3)) + (ddtheta3)*((-m3*L3*cos(theta2-theta3))/L2*(m2+m3)) +
(dtheta1)*(((m2*L1*dtheta1*sin(theta1-theta2))+m3*L1*dtheta1*sin(theta1-
theta2))/L2*(m2+m3)) + (dtheta3)*((-m3*L3*dtheta3*sin(theta2-theta3))/L2*(m2+m3)) -
((9.8)*(sin(theta2))/L2) + (F/(L2*L2*(m2+m3)));

>> eq3 = ddtheta3 == (ddtheta1)*((-L1*cos(theta1-theta3))/L3) + (ddtheta2)*((-L2*cos(theta1-

theta3))/L3) + (dtheta1)*((L1*dtheta1*sin(theta1-theta3))/L3) +
(dtheta2)*((L2*dtheta2*sin(theta2-theta3))/L3) - ((9.8*sin(theta3))/L3) + (F/(L3*L3*m3));

>> EQN = [eq1 eq2 eq3]

EQN =

[ ddtheta1 == cos(3*t)/3 - (49*sin(theta1))/5 - (24*dtheta2^2*sin(theta1 - theta2))/5 -

(3*dtheta3^2*sin(theta1 - theta3))/2 - (24*ddtheta2*cos(theta1 - theta2))/5 -
(3*ddtheta3*cos(theta1 - theta3))/4, ddtheta2 == 5*sin(theta1 - theta2)*dtheta1^2 +
(25*cos(3*t))/32 - (49*sin(theta2))/4 - (5*dtheta3^2*sin(theta2 - theta3))/8 -
5*ddtheta1*cos(theta1 - theta2) - (5*ddtheta3*cos(theta2 - theta3))/8, ddtheta3 == 2*sin(theta1 -
theta3)*dtheta1^2 + (8*sin(theta2 - theta3)*dtheta2^2)/5 + 8*cos(3*t) - (98*sin(theta3))/5 -
2*ddtheta1*cos(theta1 - theta3) - (8*ddtheta2*cos(theta1 - theta3))/5]