point O = point( 0 [ m ], 0 [ m ], 0 [ m ] );
point point1 = point( 0 [ m ], -1 [ m ], 0 [ m ] );
point point2 = point( 0 [ m ], -1[ m ], 0[ m ] );
point point3 = point( -1 [ m ], 0 [ m ], 0 [ m ] );
point point4 = point( 0 [ m ], 0 [ m ], 0 [ m ] );
body Ground = body( color = RGB( 229, 0, 0 ) );
line line1 = circle( O, projectZ, 1 [ m ] );
body Circle = body( color = RGB( 255, 153, 153 ) );
joint joint1 = rotational( Ground, Circle, point3, projectZ );
function f1(X[s])= 100[deg/s]*#X;
actuator actuator1 = moment( Ground, point3, projectZ, Circle, point3 );
motion motion1 = ideal( actuator1, f1, joint1.gamma, time );
body body1 = body( color = RGB( 0, 0, 229 ) );
MIP MIP1 = massPoint( point1, 1[ kg ] );
joint joint2 = contactPointLine( point1, line1 );
vector F_dir = vectorPP( point4, point1 );
sensor sensor1 = jointForce( force:, body1, point1, F_dir, joint2, fixing = unlock: );
sensor sensor2 = min( sensor1 );
sensor Otvet = maxAbs( sensor1 );
sensor theor = 2[N]*(2+sqrt(2))*(100*PI/180)*(100*PI/180);
sensor delta_Rel = abs((Otvet-theor)/theor);

/\///////////////////////////////////////////////////////////////////////////////////
/\   Прикрепление объектов
body Ground < (O );
body Circle < (line1, point4 );
body body1 < (point1, MIP1 );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Инерциальное звено;
set ground = Ground;

/\///////////////////////////////////////////////////////////////////////////////////
/\   Единицы измерения;
set units = SI;