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The distorted element error is because the velocity is step applied. That discontinuity is impossible to solve.
Use a 2 step solution. In step 1, ramp the velocity from 0 to 20 rad/s over 1 second, then in step 2, have the velocity be a constant value of 20 rad/s.
The images show different models: the first and third has a fixed and revolute joint, the second image has two revolute joints, the fourth has a single revolute joint. The correct configuration is one fixed and one revolute joint.