ode solvers 2nd order differential equation

I want to use ode solver to solve a 2nd order differential equation of angular acceleration for a torque equal to=1,

i have 7 states for position and 7 states of angular velocity ,

how to represent it in a function and matrix form to solve it ?

[darova]

Have you been HERE?

[bassim hany]

Yes but it did help for only one state,

but i have like 7 joints and 14 states ( 7 for position) and (7 for angular velocity) that made it more comples

so would you help ?

[darova]

Can you attach the equations? And what you have tried?