point O=point( 0 [ m ], 0 [ m ], 0 [ m ], pointStyle = thickdot: );
point O1=point( 0 [ m ], 1 [ m ], 0 [ m ], pointStyle = thickdot: );
point O2=point( 1 [ m ], 0 [ m ], 0 [ m ], pointStyle = thickdot: );
line line1=polyLine( list( O, O1 ) );
line line2=polyLine( list( O, O2 ) );
color color=index( 9 );
body base=body( color = color );
set ground = base;
body base < ( line1, line2, O, O1, O2 );
scalar a=0.5[ m ];
scalar phi0=60[ deg ];
scalar g=9.81[m/s2];
point B=point( a*cos(phi0), 0 [ m ], 0 [ m ], pointStyle = thickdot: );
point A=point( 0 [ m ], a*sin(phi0), 0 [ m ], pointStyle = thickdot: );
point C=point( a/2*cos(phi0), a/2*sin(phi0), 0 [ m ] );
solid solid1=cylinder( A, B, 0.01 [ m ], mass = 0.5 [ kg ] );
joint joint1=contactPointLine( B, line2 );
joint joint2=contactPointLine( A, line1 );
body body1=body( color = color );
body body1 < ( A, B, C, solid1 );
gravity gravity1=parallel( reverse( projectY ), g = g );
sensor N=jointForce( force:, body1, A, projectX, joint2 );
event event1=reformsBySensor( list( stop(  ) ), N, 0 [ N ] );
vector BA=vectorPP( B, A );
sensor angle=angleVV( reverse( projectX ), BA, axisDirection = projectZ );
sensor angle_theor=arcsin(2*sin(phi0)/3)*1[ rad ];
sensor angle_delta=abs((angle-angle_theor)/angle_theor);
sensor w=rotVelocity( body1, reverse( projectZ ), base );
sensor w_theor=sqrt(3*g*(sin(phi0)-sin(angle))/a)*1[rad];
sensor w_delta=abs((w-w_theor)/w_theor);
sensor epsilon=rotAcceleration( body1, projectZ, base );
sensor epsilon_theor=(-3*g*cos(angle))/(2*a)*1[rad];
sensor epsilon_delta=abs((epsilon-epsilon_theor)/epsilon_theor);

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