function Balken()
alpha0=[0;0];
tspan=[0 3.5];

[t,alphaout]=ode45(@bewegungsgleichung,tspan,alpha0);
alpha=[1 0]*alphaout';
alpha_punkt=[0 1]*alphaout';
subplot(2,1,1);plot(t,alpha), grid on, title('Winkel alpha')
subplot(2,1,3);plot(t,alpha_punkt),grid on, title('Winkelgeschwindigkeit')
function [alphapunkt]=bewegungsgleichung(t,alphaout)
m=750; a=3.9; b=3.6; c=2.1; g=9.81;my_G=0;
x_2dot =(a*cos(alphaout(1))*(alphaout(2))^2)/2 + (a*sin(alphaout(1))*diff(alphapunkt(2),t))/2 - (a^2*cos(alphaout(1))^2*(alphaout(2))^2)/sqrt(c*(1 - (b - a*sin(alphaout(1)))^2/c^2)) - (a*sin(alphaout(1))*(alphaout(2))^2*(b - a*sin(alphaout(1))))/sqrt(c*(1 - (b - a*sin(alphaout(1)))^2/d^2)) + (a*cos(alphaout(1))*(b - a*sin(alphaout(1)))*diff(alphapunkt(2),t))/(c*(1 - (b - a*sin(alphaout(1)))^2/c^2)^(1/2)) - (a^2*cos(alphaout(1))^2*(alphaout(2))^2*(b - a*sin(alphaout(1)))^2)/(c^3*(1 - (b - a*sin(alphaout(1)))^2/c^2)^(3/2))
y_2dot =(a*cos(alphaout(1))*diff(alphapunkt(2),t))/2 - (a*sin(alphaout(1))*(alphaout(2))^2)/2
S =(m*(1 - (b - a*sin(alphaout(1)))^2/c^2)^(1/2)*(x_2dot + my_G*(g + y_2dot)))/(my_G*((1 - (b - a*sin(alphaout(1)))^2/c^2)^(1/2) - my_G*sin(alphaout(1))))
F_N =(m*(1 - (b - a*sin(alphaout(1)))^2/c^2)^(1/2)*(x_2dot + my_G*(g + y_2dot)))/(my_G*((1 - (b - a*sin(alphaout(1)))^2/c^2)^(1/2) - my_G*sin(alphaout(1)))) - (m*x_2dot)/my_G
F_G=(my_G*F_N)
I=((m*(a^2))/12)
alphapunkt=[alphaout(2);((F_G*(a/2)*sin(alphaout(1)))-(F_N*(a/2)*cos(alphaout(1)))+(S*cos(asin((b-(a*sin(alphaout(1))))/c))*(a/2)*sin(alphaout(1)))+(S*sin(asin((b-(a*sin(alphaout(1))))/c))*(a/2)*cos(alphaout(1))))]