scalar m = 1[kg];
scalar M = 6[kg];
scalar l = 1[m];
scalar R = l;
scalar fi = 30[deg];
scalar v0 = 0.01 [m/s];
scalar g = 9.81 [ m/ s2 ];
point point1 = ( 0 [ m ], R+l, 0 [ m ] );
point point2 = pointCyl( 90[deg], R, 0 [ m ] );
point point3 = ( 0 [ m ], 0 [ m ], 0 [ m ] );
line cir = circle( point3, projectZ, R );
line lin = polyLine( list( point1, point3 ) );
vector vector1 = vectorPP( point1, point2 );
vector vector2 = vectorPP( point1, point3 );
solid solid1 = cylinder( point1, point2, 0.01 [ m ], mass = M );
solid solid2 = box( nodePoint( point1 ), 0.1 [ m ], 0.1 [ m ], 0.1 [ m ], mass = m );
solid solid3 = box( nodePoint( point2 ), 0.1 [ m ], 0.1 [ m ], 0.1 [ m ], mass = m );
body body1 = body( color = RGB( 255, 0, 0 ) );
body body2 = body( color = RGB( 0, 0, 255 ) );
body body3 = body( color = RGB( 0, 200, 0 ) );
body body4 = body( color = RGB( 0, 200, 0 ) );
joint joint1 = contactPointLine( point1, lin );
joint joint2 = contactPointLine( point2, cir );
joint joint3 = spherical( body2, body3, point1 );
joint joint4 = spherical( body2, body4, point2 );
condition condition1 = transVelocity( body1, projectX, body2, point2, v0 );
gravity gravity1 = parallel( reverse( projectY ) );
sensor angle = angleVV( vector2, vector1 );
event event1 = reformsBySensor( list( stop(  ) ), angle, fi );
sensor va = velocity( point1 );
sensor va_th = 6*sqrt((2*m+M)/(24*m+10*M)*g*l*(1-cos(fi)));
sensor va_delta = abs((va-va_th)/va_th);

/\///////////////////////////////////////////////////////////////////////////////////
/\   Прикрепление объектов
body body1 < (lin, cir );
body body2 < (solid1 );
body body3 < (solid2, point1 );
body body4 < (solid3, point2 );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Инерциальное звено;
set ground = body1;

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