Question: how to solve implicit ODE system like this?

i have this im plicit ODE system in modeling a multibody dynamic system. theta[1](t), theta[2](t), are the angle displacement of the beams, and they are time depentent, in these 6 equations, i have the term of cos(theta[1](t)), sin(theta[2](t)),cos(theta[2](t)), sin(theta[1](t)), multipling (diff(theta[1](t),t))^2, and diff(theta[1](t),t$2), which make them implicit equations. there are 6 unknown variables fx1,fx0,fy1,fy0(which are the forces at the end of the beams),and theta[1](t), theta[2](t). i gave the initial condition as ics:={theta[1](0) = 1/6*Pi, theta[2](0) = 1/3*Pi, D(theta[1])(0) = 0, D(theta[2])(0) = 0} Kindly let me know how to write the code to solve it! Thanks. Still below is the code: > This post generated using the online HTML conversion tool Download the original worksheet
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