scalar m = 2 [ kg ];
scalar l = 0.1 [ m ];
scalar x = 0.18 [ m ];
scalar fi = 60 [ deg ];
scalar g = 9.81 [ m/ s2 ];
point point1 = ( 0 [ m ], 0 [ m ], 0 [ m ] );
point point2 = pointCyl( -90[deg]+fi, 2*l, 0 [ m ] );
point point3 = pointCyl( -90[deg]+fi, x, 0 [ m ] );
vector vector1 = vectorPP( point1, point3 );
solid solid1 = cylinder( point1, point2, 0.01 [ m ], mass = m );
body body1 = body( color = index( 4 ) );
body body2 = body( color = index( 45 ) );
joint joint1 = rotational( body1, body2, point1, projectZ );
gravity gravity1 = parallel( reverse( projectY ) );
sensor angle1 = angleVV( vector1, projectY );
node node1 = nodePXY( point3, vector1, reverse( projectY ) );
sensor M = jointForce( moment:, body2, point3, projectZ, joint1 );
sensor phi = (-1)*sign(M)*angle1;
sensor M_th = -m*g/(4*l)*(2*l-x)*(2*l-x)*sin(phi);
sensor M2 = M/45;
sensor M_delta = abs((M2-M_th)/M_th);
event event1 = reformsBySensor( list( stop(  ) ), angle1, fi );

/\///////////////////////////////////////////////////////////////////////////////////
/\   Прикрепление объектов
body body2 < (point3, point2, solid1 );

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

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