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- CONSTANTS G,LB,W,H
- MOTIONVARIABLES' THETA'',PHI'',OMEGA',ALPHA'
- NEWTONIAN N
- BODIES A,B
- SIMPROT(N,A,2,THETA)
- SIMPROT(A,B,3,PHI)
- POINT O
- LA = (LB-H/2)/2
- P_O_AO> = LA*A3>
- P_O_BO> = LB*A3>
- OMEGA = THETA'
- ALPHA = PHI'
- W_A_N> = OMEGA*N2>
- W_B_A> = ALPHA*A3>
- V_O_N> = 0>
- V2PTS(N, A, O, AO)
- V2PTS(N, A, O, BO)
- MASS A=MA, B=MB
- IAXX = 1/12*MA*(2*LA)^2
- IAYY = IAXX
- IAZZ = 0
- IBXX = 1/12*MB*H^2
- IBYY = 1/12*MB*(W^2+H^2)
- IBZZ = 1/12*MB*W^2
- INERTIA A, IAXX, IAYY, IAZZ
- INERTIA B, IBXX, IBYY, IBZZ
- GRAVITY(G*N3>)
- ZERO = FR() + FRSTAR()
- KANE()
- INPUT LB=0.2,H=0.1,W=0.2,MA=0.01,MB=0.1,G=9.81
- INPUT THETA = 90 DEG, PHI = 0.5 DEG, OMEGA=0, ALPHA=0
- INPUT TFINAL=10, INTEGSTP=0.02
- CODE DYNAMICS() some_filename.c
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