Vectors, tensors, and geometry
 Commands for calculating angles, distances, and unit vectors.
 Creates vectors and dyadics (tensors) through special constructors.
 Multibasis capable dotproducts and crossproducts.
 Calculates ordinary and partial derivatives of vectors
(accounts for change in both magnitude and direction)
 Uses the symbol > to clearly distinguish vectors from scalars.
 Builtin zero vector, zero dyadic, and unit dyadic,
i.e., 0> 0>> 1>>
Rotational kinematics
 Easytouse Rotate command sets rotation matrix, angular velocity, angular acceleration.
 Individual commands to SetRotationMatrix, SetAngularVelocity, or SetAngularAcceleration,
 Automatically calculates rotation matrices, angular velocities, and angular accelerations.
 Commands for calculating angles between vectors or unit vectors.
 Forward kinematics, inverse kinematics, and mixed problems.
Translational kinematics
 Easytouse Translate command sets position, velocity, acceleration.
 Individual commands to SetPosition, SetVelocity, or SetAcceleration,
 Automatically calculates position vectors, velocities, and accelerations.
 Commands for calculating distance (length) and speed.
 Forward kinematics, inverse kinematics, and mixed problems.
Statics and dynamics (Newton/Euler, D'Alembert, and Kane)
 GetStatics sums forces and moments for static ("freebody") analysis.
 GetDynamics automates Newton/Euler (D'Alembert) dynamics.
 GetStaticsKane and
GetDynamicsKane
eliminate constraint forces for efficient analyses.
 Forms linear momentum, angular momentum, and kinetic energy.
 Employs highly efficient algorithms
to formulate and solve equations of motion.
 Provides special algorithms for dealing with systems involving
gyrostats.
 Produces nonlinear
and linearized equations of motion
for simulation, design, and control systems.
 Forward dynamics, inverse dynamics, and mixed problems.
Force and torque
 Easytouse
AddForce and
AddTorque commands and
commands to sum forces and moments.
 Simple commands to add forces from springs, dampers, electrostatics, gravity, linear actuations, etc.
 Implements Newton's law of action/reaction for forces and torques.
 Efficiently calculates generalized forces.
Kinetic energy, potential energy, power, and work
 Calculates kinetic energy for a particle, rigid body, or system.
 Calculates gravitational and spring potential energies.
 Calculates system power and facilitates calculating work from dissipative forces.
 Efficient energy integral for checking numerical integration accuracy.
 Calculates kinetic energy of degree 0, 1, or 2 for Hamiltonian.
Mass, center of mass, inertia, and charge
 Easytouse SetMass,
SetInertia, and
SetCharge commands.
 Calculates mass, center of mass, and inertia properties of sets of objects.
 Calculates moments/products of inertia, radii of gyration, and other inertia properties.
 Calculates the position, velocity, and acceleration of the mass center of sets of objects.
Advanced methods and constraints
 Employs augmented or embedded constraints.
 Commands for enforcing linear/nonlinear constraints with proper initial values.
 Commands for enforcing constraints and their timederivatives.
 Introduces intermediate variables for fast, efficient, compact code.


Photo courtesy of OpenSim




