'Supply the following for the initialization of LagrangesMethod
Lagrangian : Sympifyable
qs : array_like
The generalized coordinates
hol_coneqs : array_like, optional
The holonomic constraint equations
nonhol_coneqs : array_like, optional
The nonholonomic constraint equations
forcelist : iterable, optional
Takes an iterable of (Point, Vector) or (ReferenceFrame, Vector)
tuples which represent the force at a point or torque on a frame.
This feature is primarily to account for the nonconservative forces
and/or moments.
bodies : iterable, optional
Takes an iterable containing the rigid bodies and particles of the
system.
frame : ReferenceFrame, optional
Supply the inertial frame. This is used to determine the
generalized forces due to non-conservative forces.'

def __init__(self, Lagrangian, qs, forcelist=None, bodies=None, frame=None, hol_coneqs=None, nonhol_coneqs=None):

    self._L = Matrix([sympify(Lagrangian)])
    self.eom = None
    self._m_cd = Matrix()
    self._m_d = Matrix()
    self._f_cd = Matrix()
    self._f_d = Matrix()
    self.lam_coeffs = Matrix()
    forcelist = (forcelist if forcelist else [])
    if (not iterable(forcelist)):
        raise TypeError('Force    pairs    must    be    supplied    in    an    iterable.')
    self._forcelist = forcelist
    if (frame and (not isinstance(frame, ReferenceFrame))):
        raise TypeError('frame    must    be    a    valid    ReferenceFrame')
    self._bodies = bodies
    self.inertial = frame
    self.lam_vec = Matrix()
    self._term1 = Matrix()
    self._term2 = Matrix()
    self._term3 = Matrix()
    self._term4 = Matrix()
    if (not iterable(qs)):
        raise TypeError('Generalized    coordinates    must    be    an    iterable')
    self._q = Matrix(qs)
    self._qdots = self.q.diff(dynamicsymbols._t)
    self._qdoubledots = self._qdots.diff(dynamicsymbols._t)
    mat_build = (lambda x: (Matrix(x) if x else Matrix()))
    hol_coneqs = mat_build(hol_coneqs)
    nonhol_coneqs = mat_build(nonhol_coneqs)
    self.coneqs = Matrix([hol_coneqs.diff(dynamicsymbols._t), nonhol_coneqs])
    self._hol_coneqs = hol_coneqs
