scalar m=1[ kg ];
scalar M=2[ kg ];
scalar R=0.2[ m ];
scalar r=0.15[ m ];
scalar M0=10[ N m ];
scalar a=0.1[ N m s / rad ];
scalar a1=0.1[ N m s ];
scalar w1=1[ rad/ s ];
scalar t=5 [ s ];
point point_O=point( 0 [ m ], 0 [ m ], 0 [ m ] );
point point_O1=move( point_O, projectX, R+r );
point point_O2=point( 0 [ m ], 0 [ m ], 0 [ m ] );
point point_O3=move( point_O, projectX, R+r );
point point_A=move( point_O, projectX, R+2*r );
line line1=circle( point_O, projectZ, R );
line line2=circle( point_O1, projectZ, r );
color color2=index( 54 );
solid solid1=extrude( line2, point( R+r, 0 [ m ], 0.02 [ m ] ), point( R+r, 0 [ m ], -0.02 [ m ] ), mass = M, color = color2 );
color color1=index( 25 );
solid solid2=cylinder( point_O, point_O1, 0.005 [ m ], mass = m, color = color1 );
color color3=index( 9 );
body body1=body( color = color3 );
set ground = body1;
body body1 < ( line1 );
body body2=body( color = RGB( 255, 153, 153 ) );
body body2 < ( solid1, point_A, point_O1, line2 );
body body3=body( color = RGB( 255, 153, 102 ) );
body body3 < ( solid2, point_O2, point_O3 );
joint joint1=rotational( body1, body3, point_O, projectZ );
joint joint2=flatContactLineLine( line2, line1, lines_slip = linesNoSlip: );
joint joint3=user( body3, body2, nodePoint( point_O1 ), yesX:, noY:, noZ:, noFiX:, noFiY:, yesFiZ:, work = on: );
sensor w=rotVelocity( body1, projectZ, body3 );
sensor M_vr=M0-a*w;
function function1(x[N m])=#x;
force force1=moment( body3, point_O3, projectZ, function1, list( M_vr ) );
sensor w_theor_part1=-a1*t/((m/3+3*M/2)*(R+r)*(R+r));
sensor w_theor=M0/a*(1-exp(w_theor_part1));
sensor w_delta=abs((w_theor-w)/w_theor);

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