scalar m=1[kg];
scalar l=0.5[m];
scalar h=0.21[m];
scalar d=0.2[m];
scalar alfa=5 [deg];
scalar t=2[ s ];
scalar c=0.1 [N/m];
scalar g=9.81 [ m/ s2 ];
point point1=( 0 [ m ], 0 [ m ], 0 [ m ] );
point point2=( d, 0 [ m ], 0 [ m ] );
point point3=pointCyl( -90[deg]-alfa, l, 0 [ m ] );
point point4=( d, -l, 0 [ m ] );
point point5=pointCyl( -90[deg]-alfa, h, 0 [ m ] );
point point6=( d, -h, 0 [ m ] );
vector vector1=vectorPP( point1, point3 );
vector vector2=vectorPP( point2, point4 );
solid solid1=cylinder( point1, point3, 0.005 [ m ], mass = 0 [kg] );
solid solid2=sphere( point3, 0.01 [ m ], mass = m );
solid solid3=cylinder( point2, point4, 0.005 [ m ], mass = 0 [kg] );
solid solid4=sphere( point4, 0.01 [ m ], mass = m );
body body1=body(  );
set ground = body1;
body body1 < ( point1, point2 );
body body2=body( color = RGB( 0, 0, 255 ) );
body body2 < ( solid1, solid2, point5, point3 );
body body3=body( color = RGB( 0, 0, 255 ) );
body body3 < ( solid3, solid4, point6, point4 );
joint joint1=rotational( body1, body2, point1, projectZ );
joint joint2=rotational( body1, body3, point2, projectZ );
force forse1=spring( body2, point5, body3, point6, c );
gravity gravity1=parallel( reverse( projectY ) );
sensor phi11=angleVV( vector1, projectX );
sensor phi12=angleVV( vector2, projectX );
sensor phi1=-90[deg]+phi11;
sensor phi2=-90[deg]+phi12;
sensor k1=sqrt(g/l);
sensor k2=sqrt(g/l+2*c*h*h/(m*l*l));
sensor phi1_th=alfa*cos((k1+k2)/2*t)*cos((k2-k1)/2*t);
sensor phi2_th=alfa*sin((k1+k2)/2*t)*sin((k2-k1)/2*t);
sensor phi1_delta=abs((phi1-phi1_th));
sensor phi2_delta=abs((phi2-phi2_th));
event event1=reformsBySensor( list( stop(  ) ), time, t );

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