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


  • 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