scalar m=2[kg];
scalar w=500 [deg/s];
scalar l=0.3 [m];
scalar t=2 [s];
scalar g=10 [m/s2];
point point1=point( 0 [ m ], 0 [ m ], 0 [ m ], pointStyle = dot:, visible = hide: );
plane plane1=planePV( point1, projectY, l1 = 22 [ m ], l2 = 3 [ m ], n1 = 4, n2 = 4, surfaceStyle = lineStyle:, visible = show: );
point point2=move( point1, projectY, 0.01 [ m ], visible = show: );
node node1=nodePoint( point2, visible = hide: );
color red=RGB( 255, 0, 0 );
solid solid1=box( node1, 4*l, 0.02 [ m ], 4*l, mass = 16*m, color = red );
point point3=move( point2, projectY, 4*l + 0.01[m] );
line line1=polyLine( list( point3, point2 ) );
vector inverseY=reverse( projectY );
point point_O=move( point3, inverseY, 2*l );
point point4=move( point_O, projectX, 2*l, visible = show: );
point point5=move( point_O, reverse( projectX ), 2*l, visible = show: );
line line2=polyLine( list( point4, point5 ) );
solid solid_A=box( nodePoint( point4 ), 0.01 [ m ], 0.01 [ m ], 0.01 [ m ], mass = m, color = red );
solid solid_B=box( nodePoint( point_O ), 0.01 [ m ], 0.01 [ m ], 0.01 [ m ], mass = m, color = red );
color black=RGB( 1, 0, 0 );
line line_AB=polyLine( list( point_O, point4 ), color = black );
point point_C=move( point_O, projectX, l );
line line_OC=polyLine( list( point_O, point_C ), color = black );
color grey=RGB( 128, 128, 128 );
body inert=body( color = grey );
set ground = inert;
body inert < ( plane1 );
color blue=RGB( 0, 0, 255 );
body body1=body( color = blue );
body body1 < ( solid1, line1, line2, point_O, point2, point4, point3, point5 );
body body2=body( color = black );
body body2 < ( line_OC );
body body3=body( color = red );
body body3 < ( line_AB, point_C );
joint joint1 "Движение плиты по плоскости"=translational( inert, body1, point1, projectX, freeze = noFreeze: );
joint joint2 "Вращение кривошипа"=rotational( body1, body2, point_O, projectZ );
joint joint3 "Кривошип в точке С"=rotational( body2, body3, point_C, projectZ );
body body_A=body( color = red );
body body_A < ( solid_A );
body body_B=body( color = red );
body body_B < ( solid_B );
joint joint4 "Движение А"=translational( body1, body_A, point4, projectX );
joint joint5 "Движение В"=translational( body1, body_B, point_O, projectY );
joint joint6 "Связь А и АВ"=rotational( body3, body_A, point4, projectZ );
joint joint7 "Связь В и АВ"=rotational( body3, body_B, point_O, projectZ );
sensor sens_w=derivative( joint2.gamma );
vector grav_direct=rotate( inverseY, projectZ, 30[deg], point = point1, visible = show: );
gravity gravity=parallel( grav_direct, g = g );
actuator actuator1=force( body1, point_O, inverseY, body2, point_C );
motion motion1=ideal( actuator1, w, sens_w, time );
sensor sensor_dist=displacement( point1, point2, projectX );
sensor sens_theor_dist=g*time*time/4 + l*(1 - cos(w*time))/9;
sensor sens_delta=abs(sensor_dist - sens_theor_dist);

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