Base
Bodies

Earth
Models
a base body for multibody simulations
with no degrees of freedom. 
SixDOFMB
Models
a base body with six degrees of freedom. 
Joints

CylindricalJoint
Models a cylindrical joint with a
one linear and one angular degree of
freedom and a mass. 
PrismaticJoint
Models a prismatic joint with a
single linear degree of freedom and a
mass. 
ScrewJoint
Models a screw joint with a single
degree of freedom and a mass. 
SphericalJoint
Models a spherical joint with
three rotational degrees of freedom and
a mass. 
UniversalJoint
Models a universal joint with two
angular degrees of freedom and a mass. 
RevoluteJoint
Models both a revolute mechanism
and a body with Mass and angular
Inertia. 
Cut
Joints

CutSpherical
Models a cut spherical joint. 
DistCont
Models a distance constraint. 
Mechanisms

ForcesMergeMB
Models a merging of branches of a
multibody dynamics model. 
MassMB
Models a mass in a multibody
dynamics chain with an inertia along the
principle
axes. 
OffsetMB
Models an offset in a multibody
dynamics chain. 
Prismatic
Models a prismatic mechanism with
a single linear degree of freedom 
Revolute
Models a revolute joint with a
single rotational degree of freedom and
a mass. 
RotateMB
Rotates the local coordinate
system in a multibody dynamics chain. 
Screw
Models a screw mechanism with a
single degree of freedom 
Spherical
Models a spherical joint with
three rotational degrees of freedom and
a mass. 
TSDA
Models a translational spring
damper actuator. 

Support

AccelOffset
Calculates the acceleration at an
offset. 
AngleIntegrator
Calculates the integral of an
angular rate signal. 
AngVel2EulRate
Calculates the Euler angle rate
based on the angular velocity. 
Euler2TM
Converts a set of Euler Angles
into a transformation matrix. 
EulRate2AngVel
Converts a set of Euler Angles
into a transformation matrix. 
TM2Euler
Calculates the angular velocity of
a body given the euler angle rates. 
TMTransXVector
Converts a vector between
coordinate systems using a transposed
transformation matrix. 
TMXTM
Concatenates two transformation
matrixes. 
TMXVector
Converts a vector between
coordinate systems using a
transformation matrix. 
TransposeMatrix
Calculates TM by transposing the
input TMI. 
ZeroForce
Assigns a zero force and moment
on a multibody side connector. 
