ElementaryElementary examples to demonstrate various features of the MultiBody library 
Simple double pendulum with two revolute joints and two bodies 

Demonstrate how to initialize a double pendulum so that its tip starts at a predefined position 

Demonstrate usage of ForceAndTorque element 

Free flying body attached by two springs to environment 

Determine spring constant such that system is in steady state at given position 

Demonstrate line force with two point masses using a JointUPS and alternatively a LineForceWithTwoMasses component 

Simple pendulum with one revolute joint and one body 

Simple spring/damper/mass system 

Two point masses in a point gravity field 

Two point masses in a point gravity field (rotation of bodies is neglected) 

Rigidly connected point masses in a point gravity field 

Simple spring/damper/mass system 

Mass attached with a spring to the world frame 

Point mass hanging on a spring 

3dim. springs in series and parallel connection 

Single wheel rolling on ground starting from an initial speed 

Rolling wheel set that is driven by torques driving the wheels 

Rolling wheel set that is pulled by a force 

Demonstrate the modeling of heat losses 

Demonstrate the modeling of a userdefined gravity field 

Demonstrate the visualization of a sine surface, as well as a torus and a wheel constructed from a surface 

Utility classes used by elementary multibody example models 
This information is part of the Modelica Standard Library maintained by the Modelica Association.
This package contains elementary example models to demonstrate the usage of the MultiBody library
Model  Description 

DoublePendulum DoublePendulumInitTip 
Simple double pendulum with two revolute joints and two bodies. In DoublePendulumInitTip, the initial position of the pendulum tip is given
instead of common initialization by pendulum angles. 
ForceAndTorque  Demonstrates usage of Forces.ForceAndTorque element. 
FreeBody  Free flying body attached by two springs to environment. 
InitSpringConstant  Determine spring constant such that system is in steady state
at given position. 
LineForceWithTwoMasses  Demonstrates a line force with two point masses using a
Joints.Assemblies.JointUPS and alternatively a
Forces.LineForceWithTwoMasses component. 
Pendulum  Simple pendulum with one revolute joint and one body. 
PendulumWithSpringDamper  Simple spring/damper/mass system 
PointGravity  Two bodies in a point gravity field 
PointGravityWithPointMasses  Two point masses in a point gravity field (rotation of bodies is neglected) 
PointGravityWithPointMasses2  Rigidly connected point masses in a point gravity field 
RollingWheel  Single wheel rolling on ground starting from an initial speed 
RollingWheelSetDriving  Rolling wheel set that is driven by torques driving the wheels 
RollingWheelSetPulling  Rolling wheel set that is pulled by a force 
SpringDamperSystem  Spring/damper system with a prismatic joint and
attached on free flying body 
SpringMassSystem  Mass attached via a prismatic joint and a spring to the world frame 
SpringWithMass  Point mass hanging on a spring 
ThreeSprings  3dimensional springs in series and parallel connection 
HeatLosses  Demonstrate the modeling of heat losses. 
UserDefinedGravityField  Demonstrate the modeling of a userdefined gravity field. 
Surfaces  Demonstrate the visualization of a sine surface,
as well as a torus and a wheel constructed from a surface 