solver
{
    type Newmark;
}

// It is necessary to iterate for the Newmark solver
nIter 2;

bodies
{
    pendulum
    {
        type            rigidBody;
        mass            1;
        centreOfMass    (0 -1 0);
        inertia         (0.001 0 0 0.001 0 0.001);
        parent          root;
        transform       (1 0 0 0 1 0 0 0 1) (0 0 0);
        joint
        {
            type            Rs;
        }
    }
}