i need an example to understand using Ode solvers to find acceleration given a mass matrix

i tried to look too much to use ode solvers but couldn't understand anyway to solve second order diffrential equation to find the acceleration as my mass matrix in singular ?

[Pavel Osipov]

Is ode linear or not?

Specify the problem statement:

1. Ordinary Differintial Equation (vector form).

2. Initial, boundary conditions. What is.

[bassim hany]

for i=1:length(t)

q = Q(:,i);

dq = dQdt(:,i);

ddq = ddQdt(:,i);

Cmat = get_CoriolisMatrix(q,dq);

g = get_GravityVector(q);

c = get_CoriolisVector(q,dq);

M = get_MassMatrix(q);

tauf = get_FrictionTorque(dq);

TAU(:,i) = M*ddq + c + g + tauf; %% i want to solve ODE for acceleration in that part if i used the TAU=1 for example .