I'm trying to implement this Modelica example from Michael Tiller's Modelica by Design. I don't understand the rules for writing DAE equations in MTK.
Here's a version in semi-explicit form with the derivative terms alone on the left-hand side:
using ModelingToolkit, OrdinaryDiffEq
const D = Differential(t)
@variables t
@variables phi1(t) phi2(t)=1.0 omega1(t) omega2(t)