panke

$A := Matrix(8, 8, {(1, 1) = 2*m[w]+m[c], (1, 2) = 0, (1, 3) = -m[c]*d*sin(theta), (1, 4) = 0, (1, 5) = 0, (1, 6) = sin(theta), (1, 7) = -cos(theta), (1, 8) = -cos(theta), (2, 1) = 0, (2, 2) = 2*m[w]+m[c], (2, 3) = -2*m[w]*sin(theta)*L+m[c]*d*cos(theta), (2, 4) = 0, (2, 5) = 0, (2, 6) = -cos(theta), (2, 7) = -sin(theta), (2, 8) = -sin(theta), (3, 1) = -m[c]*d*sin(theta), (3, 2) = -2*m[w]*sin(theta)*L+m[c]*d*cos(theta), (3, 3) = 2*L^2*m[w]+d^2*m[c]+I[c]+2*I[m], (3, 4) = 0, (3, 5) = 0, (3, 6) = cos(theta)*x[a]+sin(theta)*y[a], (3, 7) = sin(theta)*x[a]-cos(theta)*y[a]-L, (3, 8) = sin(theta)*x[a]-cos(theta)*y[a]+L, (4, 1) = 0, (4, 2) = 0, (4, 3) = 0, (4, 4) = I[w], (4, 5) = 0, (4, 6) = 0, (4, 7) = R, (4, 8) = 0, (5, 1) = 0, (5, 2) = 0, (5, 3) = 0, (5, 4) = 0, (5, 5) = I[w], (5, 6) = 0, (5, 7) = 0, (5, 8) = R, (6, 1) = sin(theta), (6, 2) = -cos(theta), (6, 3) = cos(theta)*x[a]+sin(theta)*y[a], (6, 4) = 0, (6, 5) = 0, (6, 6) = 0, (6, 7) = 0, (6, 8) = 0, (7, 1) = -cos(theta), (7, 2) = -sin(theta), (7, 3) = sin(theta)*x[a]-cos(theta)*y[a]-L, (7, 4) = R, (7, 5) = 0, (7, 6) = 0, (7, 7) = 0, (7, 8) = 0, (8, 1) = -cos(theta), (8, 2) = -sin(theta), (8, 3) = sin(theta)*x[a]-cos(theta)*y[a]+L, (8, 4) = 0, (8, 5) = R, (8, 6) = 0, (8, 7) = 0, (8, 8) = 0})$