Question: Generate matrix form

Hello,

I cant find solution how to create matrix form from equations of motion. Equations looks like this:

My equations ar much more complicated and one of them looks something like this:

 http://i63.tinypic.com/21c5ctk.png

and I want form like this:

I tried to do it using the Generate Matrix but it does not work as I expected. How can you get this form?

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