function [alpha_dot]=bewegungsgleichung(t,alpha)
m=750; a=3.9; b=3.6; c=2.1; g=9.81;my_G=0;
alpha=[0,0];
alpha_dot=[0;0];
alpha_dot(1)=alpha(2);
winkel=alpha(1);
alpha_punkt=alpha(2);
alpha_dot(2)=(a*cos(winkel)*((m*(g - ((a*cos(winkel)*(alpha_punkt)^2)/2 + (a*sin(winkel)*(alpha_dot))/2 - (a^2*cos(winkel)^2*(alpha_punkt)^2)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a*sin(winkel)*(alpha_punkt)^2*(b - a*sin(winkel)))/(c*(1 - (b - a*sin(alpha_punkt))^2/c^2)^(1/2)) + (a*cos(winkel)*(b - a*sin(winkel))*(alpha_dot)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a^2*cos(winkel)^2*(alpha_punkt)^2*(b - a*sin(winkel))^2)/(c^3*(1 - (b - a*sin(winkel))^2/c^2)^(3/2)))/my_G + (a*cos(winkel)*(alpha_punkt)^2)/2 + (a*sin(winkel)*(alpha_dot))/2 - (a^2*cos(winkel))^2*(alpha_punkt)^2)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a*sin(winkel)*(alpha_punkt)^2*(b - a*sin(winkel)))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) + (a*cos(winkel)*(b - a*sin(winkel))*(alpha_dot))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a^2*cos(winkel)^2*(alpha_punkt)^2*(b - a*sin(winkel))^2)/(c^3*(1 - (b - a*sin(winkel))^2/c^2)^(3/2))))/(my_G + 1) - (m*((a*cos(winkel)*(alpha_punkt)^2)/2 + (a*sin(winkel)*(alpha_dot))/2 - (a^2*cos(winkel)^2*(alpha_punkt)^2)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a*sin(winkel)*(alpha_punkt)^2*(b - a*sin(winkel)))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) + (a*cos(winkel)*(b - a*sin(winkel))*(alpha_dot))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a^2*cos(winkel)^2*(alpha_punkt)^2*(b - a*sin(winkel))^2)/(c^3*(1 - (b - a*sin(winkel))^2/c^2)^(3/2))))/my_G))/2 - (a*my_G*sin(winkel)*((m*(g - ((a*cos(winkel)*(alpha_punkt)^2)/2 + (a*sin(winkel)*(alpha_dot))/2 - (a^2*cos(winkel)^2*(alpha_punkt)^2)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a*sin(winkel)*(alpha_punkt)^2*(b - a*sin(winkel)))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) + (a*cos(winkel)*(b - a*sin(winkel))*(alpha_dot))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a^2*cos(winkel)^2*(alpha_punkt)^2*(b - a*sin(winkel))^2)/(c^3*(1 - (b - a*sin(winkel))^2/c^2)^(3/2)))/my_G + (a*cos(winkel)*(alpha_punkt)^2)/2 + (a*sin(winkel)*(alpha_dot))/2 - (a^2*cos(winkel)^2*(alpha_punkt)^2)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a*sin(winkel)*(alpha_punkt)^2*(b - a*sin(winkel)))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) + (a*cos(winkel)*(b - a*sin(winkel))*(alpha_dot))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a^2*cos(winkel)^2*(alpha_punkt)^2*(b - a*sin(winkel))^2)/(c^3*(1 - (b - a*sin(winkel))^2/c^2)^(3/2))))/(my_G + 1) - (m*((a*cos(winkel)*(alpha_punkt)^2)/2 + (a*sin(winkel)*(alpha_dot))/2 - (a^2*cos(winkel)^2*(alpha_punkt)^2)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a*sin(winkel)*(alpha_punkt)^2*(b - a*sin(winkel)))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) + (a*cos(winkel)*(b - a*sin(winkel))*(alpha_dot))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a^2*cos(winkel)^2*(alpha_punkt)^2*(b - a*sin(winkel))^2)/(c^3*(1 - (b - a*sin(winkel))^2/c^2)^(3/2))))/my_G))/2 - (6*my_G*cos(winkel)*(g - ((a*cos(winkel)*(alpha_punkt)^2)/2 + (a*sin(winkel)*(alpha_dot))/2 - (a^2*cos(winkel)^2*(alpha_punkt)^2)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a*sin(winkel)*(alpha_punkt)^2*(b - a*sin(winkel)))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) + (a*cos(winkel)*(b - a*sin(winkel))*(alpha_dot))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a^2*cos(winkel)^2*(alpha_punkt)^2*(b - a*sin(winkel))^2)/(c^3*(1 - (b - a*sin(winkel))^2/c^2)^(3/2)))/my_G + (a*cos(winkel)*(alpha_punkt)^2)/2 + (a*sin(winkel)*(alpha_dot))/2 - (a^2*cos(winkel)^2*(alpha_punkt)^2)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a*sin(winkel)*(alpha_punkt)^2*(b - a*sin(winkel)))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) + (a*cos(winkel)*(b - a*sin(winkel))*(alpha_dot))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a^2*cos(winkel)^2*(alpha_punkt)^2*(b - a*sin(winkel))^2)/(c^3*(1 - (b - a*sin(winkel))^2/c^2)^(3/2))))/(a*(my_G + 1)) - (a*c*m*my_G*sin(winkel)*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)*(g - ((a*cos(winkel)*(alpha_punkt)^2)/2 + (a*sin(winkel)*(alpha_dot))/2 - (a^2*cos(winkel)^2*(alpha_punkt)^2)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a*sin(winkel)*(alpha_punkt)^2*(b - a*sin(winkel)))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) + (a*cos(winkel)*(b - a*sin(winkel))*(alpha_dot))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a^2*cos(winkel)^2*(alpha_punkt)^2*(b - a*sin(winkel))^2)/(c^3*(1 - (b - a*sin(winkel))^2/c^2)^(3/2)))/my_G + (a*cos(winkel)*(alpha_punkt)^2)/2 + (a*sin(winkel)*(alpha_dot))/2 - (a^2*cos(winkel)^2*(alpha_punkt)^2)/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a*sin(winkel)*(alpha_punkt)^2*(b - a*sin(winkel)))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) + (a*cos(winkel)*(b - a*sin(winkel))*(alpha_dot))/(c*(1 - (b - a*sin(winkel))^2/c^2)^(1/2)) - (a^2*cos(winkel)^2*(alpha_punkt)^2*(b - a*sin(winkel))^2)/(c^3*(1 - (b - a*sin(winkel))^2/c^2)^(3/2))))/(2*(b - a*sin(winkel))*(my_G + 1))
tend=3.5
tspan=[0,tend]
[t,loesung]=ode45(@bewegungsgleichung, tspan, [1.047197551,0]);