We introduce the variables u = x, v = x', w = y, z = y'. Then we have:
du/dt = v,
dv/dt = -a*u - k*u - w,
dw/dt = z,
dz/dt = -a*w - k*w - u.
The characteristic polynomial of this system is given by the determinant of the matrix A - λI, where A is the matrix of
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