Tutorials

Six guided builds that take you from a single falling body to a measured, physics-validated mechanism. Each is short, hands-on, and ends with a check against a closed-form result — so you finish knowing the solver is right, not just that something moved. No prior multibody-dynamics experience is assumed.

Work through them in order (each builds on the last), or jump to the one you need.

#	Tutorial	You'll learn	Validated against
1	Your First Simulation	The workspace; build → solve → play back a falling body	Free fall, s = ½gt²
2	Build a Pendulum	Your first joint; a body becomes a mechanism	Pendulum period, T = 2π√(L/g)
3	A Tour of Joints	Revolute vs Prismatic vs Spherical — degrees of freedom	Distinct motion per DOF count
4	Springs & Dampers	Force elements; oscillation and damping	ωₙ = √(k/m), damping ratio ζ
5	Forces, Torques & Drive Laws	Applying loads; shaping them over time	a = F/m, α = τ/I
6	Markers & Requests	Measuring results as exact numbers	Rigid-link distance, swing angle, joint reaction

Prefer a single document?

The same six tutorials are also compiled into a downloadable PDF manual — handy for reading offline or printing. (Download link added when the docs site goes live.)

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Missing a topic? The set is growing — plotting, reaction/force review, and full worked mechanisms (slider-crank, four-bar, Whitworth) are next.