scalar q=90[deg];
scalar v=300 [deg/s];
point point1=point( 0 [ m ], 0 [ m ], 0 [ m ] );
point point2=point( 0 [ m ], 1 [ m ], 0 [ m ] );
point point3=point( 0 [ m ], 0 [ m ], 1 [ m ] );
point point4=point( 0 [ m ], 1 [ m ], 1 [ m ] );
point A=point( 0.5 [ m ]*sin(q), 0 [ m ], 1[m]-0.5 [ m ]*cos(q) );
point B=point( -0.3 [ m ]*sin(q), 0 [ m ], 1[ m ]+0.3[m]*cos(q) );
body body1=body( color = index( 54 ) );
set ground = body1;
body body1 < ( point1 );
body body2=body( color = index( 5 ) );
body body2 < ( point2, point3 );
joint joint1=rotational( body1, body2, point1, projectZ );
solid solid1=cylinder( point1, point3, 0.01 [ m ] );
body body2 < ( solid1 );
color color1=index( 17 );
solid solid2=cylinder( A, B, 0.01 [ m ], mass = 0.01 [ kg ], color = color1 );
color color2=index( 82 );
body body3=body( color = color2 );
body body3 < ( solid2, A, B );
joint joint3=rotational( body2, body3, point3, projectY );
function function1(x[ s ])=#x*v;
function function2(x[rad/s])=-#x*0.01[kg m2 / s rad];
//actuator actuator1=moment( body1, point1, projectZ, body2, point1 );
//motion motion1=ideal( actuator1, function1, joint1.gamma, time );
command command2=plotFx( list( q ), list( 1.74533e-002  [ rad ] ), list( 20 ), list( joint3.gamma ), comDynamics );
vector vector3=vectorPP( point3, point4 );
body body3 < ( vector3 );
sensor sensor2=derivative( joint3.gamma );
force force4=moment( body3, point3, vector3, function2, list( sensor2 ), work = on: );
gravity gravity1=parallel( reverse( projectZ, visible = hide: ) );

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