% puertos it: angulo, it2: velocidad angular, iF: Fuerza

xpp=(1/(m1+m2-0.25*m2*cos(it)*cos(it)))*(iF+0.5*m2*((9.81*cos(it)*sin(it)+(L*it2*it2*sin(it)))))
tpp= (1/(L-0.25*(m2*L/(m1+m2))*cos(it)*cos(it)))*((m2*L/(4*(m1+m2)))*it2*it2*sin(it)*cos(it)-9.81*sin(it)-(0.5/(m1+m2))*iF*cos(it))