g = 9.

81
lb = 0.26
lcb = 0.13
lm = 0.24
lt = 0.25
mb = 0.022
mcb = 0.068
mm = 0.0145
mmr = 0.228
mms = 0.225
mt = 0.0155
mtr = 0.206
mts = 0.165
rms = 0.155
rts=0.1
A = (mt/2+mtr+mts)*lt;
B = (mm/2+mmr+mms)*lm;
C = (mb/2)*lb+mcb*lcb;
D = (mb/3*(lb)^2)+(mcb*(lcb)^2);
E = (mm/3+mmr+mms)*(lm)^2 + (mt/3+mtr+mts)*(lt)^2;
F = mms*(rms)^2+(mts/2)*(rts)^2;
jtr = 0.012875
jmr = 0.013132
jv = 0.055846
kv = 0.00545371
kh = 0.0095
kbal = 5/(2.895*2048)