The figure to the right shows a plate B connected by a revolute joint to a rod A so B can rotate freely about A's long axis. Rod A is connected by a second revolute joint to a fixed support N (the revolute joints' axes are perpendicular not parallel).

• Generates exact nonlinear symbolic equations of motion
• Forms mechanical energy whose variation during numerical integration tracks integrator accuracy
• Creates   simulation results   (graphed and saved with   MotionGenesis plotting software -- shown below)
• Or, append .m, .c, or .f extension to the ODE() filename to produce the codes shown below.

  Type	Code
  .m	MATLAB® code
  .c .f	C code   or   Fortran code   for exceptionally fast numerical motion simulation. Easy-to-use   input file   to change input constants, initial values, time parameters, etc.