> 
mb:=765; mp:=587;Ib:=76.3*10^3;Ip:=7.3*10^3; l:=0.92; d:=10; F:=1.2; omega:=0.43;g:=9.81;ly:=3;k:=0.02001014429;


(1) 

(2) 

(3) 

(4) 
> 
eq1:=(mp+mb)*diff(x(t),t$2)+mp*(d*cos(theta(t))+l*cos(alpha(t)+theta(t)))*diff(theta(t),t$2)+mp*l*cos(alpha(t)+theta(t))*diff(alpha(t),t$2)+mp*(d*diff(theta(t),t)^2*sin(theta(t))+l*(diff(theta(t),t)+diff(alpha(t),t))^2*sin(alpha(t)+theta(t)))+A*2*(s*sinh(k*ly+k*ly)*sin(omega*tk*x(t)))=0;


(5) 
> 
eq2:=(mp+mb)*diff(z(t),t$2)mp*d*(sin(theta(t)+alpha(t))+sin(theta(t)))*diff(theta(t),t$2)mp*l*sin(alpha(t)+theta(t))*diff(alpha(t),t$2)+mp*(d*diff(theta(t),t)^2*cos(theta(t))+l*(diff(theta(t),t)+diff(alpha(t),t))^2*cos(alpha(t)+theta(t)))+9.81*(mp+mb)+1000*g*z(t)*15.3*30+A*cosh(k*ly+k*z(t))*n*(cos(omega*tk*15)cos(omega*t+k*15))=0;


(6) 
> 
eq3:=mp*(d*cos(theta(t))+l*cos(alpha(t)+theta(t)))*diff(x(t),t$2)mp*(l*sin(theta(t)+alpha(t))+d*sin(theta(t)))*diff(z(t),t$2)+(Ip+Ib+mp*(d^2+l^2)+2*mp*d*l*cos(alpha(t)))*diff(theta(t),t$2)+(Ip+mp*l^2+mp*d*l*cos(alpha(t)))*diff(alpha(t),t$2)mp*sin(alpha(t))*(l*d*diff(alpha(t),t)^2l*d*(diff(alpha(t),t)+diff(theta(t),t))^2)+mp*9.81*l*sin(alpha(t)+theta(t))+mp*9.81*d*sin(theta(t))=0;


(7) 
> 
eq4:=mp*l*cos(alpha(t)+theta(t))*diff(x(t),t$2)mp*l*sin(alpha(t)+theta(t))*diff(z(t),t$2)+(Ip+mp*l^2+mp*d*l*cos(alpha(t)))*diff(theta(t),t$2)+(Ip+mp*l^2)*diff(alpha(t),t$2)mp*9.81*l*sin(alpha(t)+theta(t))+l*d*mp*diff(theta(t),t$1)^2*sin(alpha(t))=0;


(8) 
> 
CI:= x(0)=0,z(0)=0,theta(0)=0,alpha(0)=0,D(x)(0)=0,D(alpha)(0)=0,D(z)(0)=0,D(theta)(0)=0;


(9) 
> 
solution:=dsolve([eq1,eq2,eq3,eq4,CI],numeric,maxfun=100000);


(10) 
> 
odeplot(solution,[[t,x(t)],[t,alpha(t)],[t,z(t)],[t,theta(t)]], t=0..1000, thickness=2);

> 
odeplot(solution,[[t,x(t)]], t=0..1000, thickness=2);

> 
odeplot(solution,[[t,z(t)]], t=0..1000, thickness=2);

> 
odeplot(solution,[[t,alpha(t)]], t=0..1000, thickness=2);

> 
odeplot(solution,[[t,theta(t)]], t=0..1000, thickness=2);

thank you
