Subscript[R, c] (Subscript[m, d] (g+Overscript[y, ¨]) sin(Subscript[\[Alpha], c]+Subscript[\[Theta], 1])+Subscript[k, d] cos(Subscript[\[Alpha], c]+Subscript[\[Theta], 1]) (Subscript[d, c] cos(Subscript[\[Omega], c]+Subscript[\[Theta], 1])-Subscript[R, 1] sin(Subscript[\[Alpha], 1])))+Overscript[x, ¨] (Subscript[R, c] Subscript[m, d] cos(Subscript[\[Alpha], c]+Subscript[\[Theta], 1])+Subscript[m, 2] Subscript[R, 2] cos(Subscript[\[Alpha], 2]+Subscript[\[Theta], 1]))+Subscript[m, 2] Subscript[R, 2] sin(Subscript[\[Alpha], 2]+Subscript[\[Theta], 1]) (g+Overscript[y, ¨])<Subscript[\[Theta], 1]^\[Prime]\[Prime] (-Subscript[d, c] Subscript[R, c] Subscript[m, d] sin(Subscript[\[Alpha], c]-Subscript[\[Omega], c])+d Subscript[m, 2] Subscript[R, 2] sin(\[Omega]-Subscript[\[Alpha], 2])+Subscript[IG, 2])+(Subscript[\[Theta], 1]^\[Prime])^2 (Subscript[d, c] Subscript[R, c] Subscript[m, d] cos(Subscript[\[Alpha], c]-Subscript[\[Omega], c])+d Subscript[m, 2] Subscript[R, 2] cos(\[Omega]-Subscript[\[Alpha], 2]))