% 一様な円柱の質量と慣性モーメント kg, m, s

l = 0.4;
lc = 0.2;
r = 0.02;
rho = 5e+3; % kg/m^3

m = rho*(pi*r^2)*l;
Jc = m * (r^2/4 + l^2/12);

