scalar m=20[ kg ];
scalar a=4[ m ];
scalar b=2[ m ];
scalar alpha=30[ deg ];
scalar beta=60[ deg ];
point point1=point( 0 [ m ], 0 [ m ], 0 [ m ], pointStyle = thickdot: );
point point2=pointCyl( 180[ deg ]+alpha, 2 [ m ], 0 [ m ], pointStyle = thickdot: );
vector vector1=vectorPP( point2, point1 );
point point3=move( point2, vector1, a, pointStyle = thickdot: );
node node1=nodePoint( point3 );
vector vector2=rotate( vectorX( node1 ), projectZ, 60[ deg ] );
vector vector3=rotate( vector2, projectZ, 90[ deg ] );
point point4=move( point2, projectX, 5 [ m ], pointStyle = thickdot: );
point point5=move( point2, reverse( projectX ), 2 [ m ], pointStyle = thickdot: );
point point6=move( point2, projectX, 0 [ m ], pointStyle = thickdot: );
point point7=move( point3, vector2, 2 [ m ], pointStyle = thickdot: );
point point8=move( point3, reverse( vector2 ), 3 [ m ], pointStyle = thickdot: );
line line1=polyLine( list( point5, point4 ) );
line line2=polyLine( list( point7, point8 ) );
color color1=RGB( 1, 0, 0 );
body body1=body( color = color1 );
set ground = body1;
body body1 < ( point5, point4, line1, point7, point8, line2, point1, point6 );
solid solid1=cylinder( point2, point3, 0.1 [ m ], mass = m );
color color2=RGB( 16, 126, 10 );
body body2=body( color = color2 );
body body2 < ( point2, point3, solid1 );
gravity gravity1=parallel( reverse( projectY ) );
joint joint1=contactPointLine( point3, line2 );
joint joint2=contactPointPoint( point6, point2 );
sensor P_sense=jointForce( force:, body1, point6, reverse( projectX ), joint2 );
sensor P_theor=m*9.81[ m/ s2 ]*b*cos(alpha)*sin(beta)/(a*cos(beta-alpha));
sensor P_delta=P_sense-P_theor;
sensor P_delta_rel=P_delta/P_theor;
sensor Na_sence=jointForce( force:, body2, point6, projectY, joint2 );
sensor Na_theor=m*9.81[ m/s2 ]*(1-b*cos(alpha)*cos(beta)/(a*cos(beta-alpha)));
sensor Na_delta=Na_sence-Na_theor;
sensor Na_delta_rel=Na_delta/Na_theor;
sensor Nb_sence=jointForce( force:, body2, node1, vector3, joint1 );
sensor Nb_theor=m*9.81[m/s2]*b*cos(alpha)/(a*cos(beta-alpha));
sensor Nb_delta=Nb_sence-Nb_theor;
sensor Nb_delta_rel=Nb_delta/Nb_theor;

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