point point1 = point( -0.5 [ m ], 0 [ m ], 0 [ m ] );
point point2 = move( point1, projectY, 0.9 [ m ] );
vector vector1 = rotate( projectY, projectZ, -30 [ deg ] );
point point3 = move( point1, vector1, 1.2 [ m ] );
solid solid1 = cylinder( point1, point3, 0.01 [ m ], mass = 5 [ kg ] );
plane plane1 = planePV( point2, projectY, l1 = 2 [ m ] );
vector vector2 = reverse( vector1 );
point point4 = point( 5.0000e-002 [ m ], 9.5000e-001 [ m ], 0.0000e+000 [ m ] );
node node2 = nodePoint( point4 );
solid solid2 = box( node2, 0.2 [ m ], 0.1 [ m ], 0.1 [ m ], mass = 15 [ kg ] );
color color1 = RGB( 0, 0, 255 );
body body1 = body( color = color1 );
color color2 = index( 46 );
body body2 = body( color = color2 );
vector vector3 = reverse( projectY );
gravity gravity1 = parallel( vector3 );
joint joint1 = translational( body1, body2, point4, vector2 );
color color3 = index( 32 );
color color4 = index( 67 );
body body4 = body( color = color4 );
joint joint2 = rotational( body4, body1, point1, projectZ );
point point5 = point( 5.0000e-002 [ m ], 9.000e-001 [ m ], 0.0000e+000 [ m ] );
point point7 = move( point5, projectX, -0.1 [ m ] );
point point8 = move( point5, projectX, 0.1 [ m ] );
line line2 = polyLine( list( point7, point8 ) );
condition condition2 = rotVelocity( body4, projectZ, body1, 1 [ rad/ s ] );
color color5 = index( 10 );
body body3 = body( color = color5 );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Прикрепление объектов
body body1 < (solid1, point3 );
body body2 < (solid2, point5, line2, point8, point7 );
body body4 < (point1, plane1 );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Инерциальное звено;
set ground = body4;

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