Masses

• Hierarchial system of masses
• Computation of inertia matrices from sub-components
• Rigid-body block integrates motion resulting from 6-DOF forces

Forces

• Hierarchical force specification and summation
• Specification and output of forces and moments in any frame
• Custom force generating blocks to model non-standard components

Frames

• Hierarchical system of reference frames
• Model components defined in any frame
• Euler-angle definition for rigid-body angles
• Specification and output of velocities and angular velocities in any frame