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eq1   = 1/2 g L1 m1 Cos[θ1[t]] + 1/(4 L2) (g M (-π^2 Cos ... 0; Cos[(π q1[t] + 2 π q2[t] + L2 Ω[t])/L2] Ω^′′[t])))))) == Q1 ;

mandrin