Функция solve

%typeset_mode True
import numpy as np
import scipy
import matplotlib.pyplot as plt
import numpy.fft as fft
import matplotlib
import matplotlib.pyplot as plt1
import matplotlib.pyplot as plt2
from scipy import integrate, optimize, interpolate
from scipy.special import gamma
# y = [0..3]
# x=y[0]
# x_dot=y[1]
# alpha=y[2]
# alpha_dot=y[3]
%var angle1, x, x_dot,x1dot, x2dot, epsilon, A, Aa, alpha, alpha_dot, m1, m2, k1,g, l1, Ek, Ep, Lagran1, Lagran2
Ek = m2*((x_dot^2)+(2*x_dot*l1*cos(alpha)*alpha_dot)+(l1^2)*(alpha_dot^2)*((cos(alpha)**2)-(sin(alpha)**2)))/2
Ep = m2*g*(l1-l1*cos(alpha))+(k1*(x^2)/2)
L = Ek - Ep
Ldiff = L.diff(x_dot )
Ldiff2 = L.diff(alpha_dot)
t=var('t')
xdot_tmp = var ('X_Dot')
alphadot_tmp = var ('Alpha_Dot')
alpha_tmp = function ('Alpha')(t)# For substitution alpha
x_tmp = function ('X')(t) #For substitution x
angle1 = var ('theta')
Ldiff3 = Ldiff.subs([x_dot==x_tmp.diff(t), x==x_tmp ,alpha==alpha_tmp,alpha_dot==alpha_tmp.diff(t)]).diff(t)
Ldiff4 = Ldiff2.subs([x_dot==x_tmp.diff(t), x==x_tmp ,alpha==alpha_tmp,alpha_dot==alpha_tmp.diff(t)]).diff(t)
Lagran1 = Ldiff3-L.diff(x)-A*sin(angle1*t)
Lagran2= Ldiff4-L.diff(alpha)
print ('Lagran1')
Lagran1
print ('Lagran2')
Lagran2
omega =var ('omega') #For subs second derivative alpha. It is pendulum acceleration
Aa =var('A') #For subs second derivative x. It is trolley acceleration
eq1=Lagran1.subs([x_tmp.diff(t)==x_dot,x_tmp==x,alpha_tmp.diff(t)==alpha_dot,alpha_tmp==alpha, alpha_tmp.diff(t).diff(t)==omega, x_tmp.diff(t).diff(t)==Aa])
print ('eq1')
eq1
eq2=Lagran2.subs([x_tmp.diff(t)==x_dot,x_tmp==x,alpha_tmp.diff(t)==alpha_dot,alpha_tmp==alpha, alpha_tmp.diff(t).diff(t)==omega, x_tmp.diff(t).diff(t)==Aa])
print ('eq2')
eq2
solve([ eq1,eq2  ],[Aa,omega ])
#x_dot is trolley velocity
#alpha_dot is pendulum velocity
solve([ eq1,eq2  ],[x_dot,alpha_dot ])