Plotting non linear functions in matlab

I have two non-linear equations:

where A, B, C, D, E, F, and G are positive constants. q1(t) is a distance (varies with time), q2(t) is an angle (varies with time), and τ is a torque (the input to the system). Initially it can be assumed that q1(0)=0 and q2(0)=0.

I would like to plot q1(t) and q2(t) vs. τ. How can I do this using MATLAB? Any advice would be appreciated.