When defining a function use patterns in the left-hand side:
o[t_] = sec[(b''[t]*L*M)/(k1*r)];
gamma[t_] = (a''[t]*L*M)/(k2*cos[o[t]]);
x1[t_] = (b''[t]*L*M)/k1;
y1[t_] = r*sin[o[t]] + gamma[t];
x2[t_] = L*(sin[a[t]]*cos[b[t]]) + x1;
y2[t_] = L*(sin[a[t]]*sin[b[t]]) + y1;
z2[t_] = -L*cos[a[t]];
Also, you probably have to write x1[t]
instead of simply x1
in the right-hand side. Functions like sine and cosine must be written with capital initials: Sin
, Cos
, Sec
etc.