Slider Crank, DAE format

[vtjnash]

For #359, from https://archimede.dm.uniba.it/~testset/problems/crank.php

I opted for a fairly direct translation of the code here initially, so that could perhaps be cleaned up a bit later. The solutions graphs here do not match the originals, but possibly show an increasing energy state as phi1 winds up.

@ChrisRackauckas I had to introduce phony variables for D(D(X)) to get the equation to solve (see commit 2). Can you help me figure out also what is wrong with the original formulation?

[YingboMa]

I tried it on the latest MTK, but the initialization of the DAE then fails just like https://github.com/SciML/SciMLBenchmarks.jl/pull/372