/\///////////////////////////////////////////////////////////////////////////////////
/\   Пояснения к проекту
set remark=
"Расчет сил давления в подшипниках";
scalar M = 10[ kg ];
scalar h = 0.3[ m ];
scalar w1 = 1000[ deg/ s ];
scalar w2 = 500[ deg/ s ];
scalar g = 9.81[ m/ s2 ];
scalar a = 0.2[ m ];
scalar r_tire "Радиус обода тела вращения solid1" = 0.0001[ m ];
point point1 = point( 0 [ m ], 0 [ m ], 0 [ m ], visible = hide: );
body body1 "Инерциальное звено - система координат проекта" = body( color = RGB( 229, 229, 229 ), visible = hide: );
point point2 = point( -0.3 [ m ], 0.5 [ m ], 0 [ m ], visible = hide: );
point point3 = point( -0.3 [ m ], 0 [ m ], 0 [ m ], visible = hide: );
point point4 = point( 0 [ m ], 0 [ m ], 0 [ m ], visible = hide: );
point point5 = point( 0.3 [ m ], 0 [ m ], 0 [ m ], visible = hide: );
point point6 = point( 0.3 [ m ], 0.5 [ m ], 0 [ m ], visible = hide: );
line line1 = polyLine( list( point2, point3, point4, point5, point6 ) );
color green = index( 44 );
body body2 "Тело вращения вокруг оси OY" = body( color = green );
condition condition1 "Начальное значение угловой скорости w2 для звена body2 относительно звена body1" = rotVelocity( body1, projectY, body2, w2 );
point point7 = point( -h, 0.5 [ m ], 0 [ m ] );
point point8 = point( h, 0.5 [ m ], 0 [ m ] );
line line2 = polyLine( list( point7, point8 ) );
color blue = index( 73 );
body body3 "Колесо с осью" = body( color = blue );
condition condition2 "Начальное значение угловой скорости w1 для звена body3 относительно звена body2" = rotVelocity( body2, vectorPP( point2, point6 ), body3, w1 );
gravity gravity1 = parallel( reverse( projectY ) );
joint joint1 = user( body1, body2, nodePoint( point1 ), noX:, noY:, noZ:, noFiX:, yesFiY:, noFiZ: );
joint joint2 = user( body2, body3, nodePoint( point2 ), noX:, noY:, noZ:, yesFiX:, yesFiY:, yesFiZ: );
joint joint3 = user( body2, body3, nodePoint( point6 ), noX:, noY:, yesZ:, yesFiX:, yesFiY:, yesFiZ: );
solid solid1 "Невесомая ось" = spin( circle( point( 0 [ m ], 0.3 [ m ], 0 [ m ] ), projectZ, r_tire ), vectorPP( point2, point6 ), mass = 2*M );
solid solid2 "Колесо" = cylinder( point7, point8, 0.002 [ m ] );
sensor Na_Theoretical = M*g*(1+(a*a*(w1*PI/180[ deg ])*(w2*PI/180[deg]))/(g*h));
sensor Nb_Theoretical = M*g*(1-(a*a*(w1*PI/180[ deg ])*(w2*PI/180[deg]))/(g*h));
sensor Na_y = jointForce( force:, body2, point2, vectorPP( point2, point3 ), joint2 );
sensor Nb_y = jointForce( force:, body2, point6, reverse( projectY ), joint3 );
sensor Na_delta = abs((Na_Theoretical-Na_y)/Na_Theoretical);
sensor Nb_delta = abs((Nb_Theoretical-Nb_y)/Nb_Theoretical);

/\///////////////////////////////////////////////////////////////////////////////////
/\   Прикрепление объектов
body body1 < (point1 );
body body2 < (point2, point3, point4, point5, point6, line1 );
body body3 < (point7, point8, line2, solid2, solid1 );

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

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