Mathematica integration

MakeSubstitutionRules[dh_] := <br />    Module[{vars, dvars, vs}, <br />&n ... [[1]] ->#[[2]][t]) & /@ Transpose[{dvars, vs}]} // Flatten<br />    ] ;

MakeDifferentialEquations[traj_, {θ_, dθ_}, dh_] := <br />    Mo ... bsp;      Flatten[{eq1, eq2, eq3}] <br />    ] ;

SimulateDynamics[{θ_, dθ_}, traj_, tmax_, dh_, opts___] := <br />   & ... bsp;      Flatten[vars /. NDSolve[eqs, vars, {t, 0, tmax}, opts]]] ;

Created by Mathematica  (October 21, 2003)