scalar R=1 [m];
scalar m=1 [kg];
point point1=point( 0 [ m ], 0 [ m ], 0 [ m ] );
point point2=point( R, -R, 0 [ m ] );
line line1=circle( point( R, 0 [ m ], 0 [ m ] ), projectZ, R );
solid solid1=sphere( point2, 0.1 [ m ], mass = m );
body body1=body( color = RGB( 229, 229, 229 ) );
set ground = body1;
body body1 < ( point1 );
body body2=body( color = RGB( 255, 153, 153 ) );
body body2 < ( line1 );
body body3=body( color = RGB( 255, 153, 102 ) );
body body3 < ( solid1, point2 );
joint joint1=rotational( body1, body2, point1, projectZ );
joint joint2=contactPointLine( point2, line1 );
scalar scalar1=100 [ deg/ s ];
actuator actuator1=moment( body1, point1, projectZ, body2, point1 );
scalar omega=100 [ deg/ s ];
motion motion1=ideal( actuator1, omega, derivative( joint1.gamma ), time );
sensor sensor1=jointForce( force:, body2, point2, projectX, joint2, fixing = unlock: );
sensor sensor2=jointForce( force:, body2, point2, projectY, joint2, fixing = unlock: );
sensor sensor3=jointForce( force:, body2, point2, projectZ, joint2, fixing = unlock: );
sensor F=max( sqrt(sensor1*sensor1+sensor2*sensor2+sensor3*sensor3) );
sensor F_teor=2*(2+sqrt(2))*m*R*omega*omega/1[ rad ]/1[ rad ];
sensor delta=abs(F-F_teor);

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