• Servo Motors—Use servo motors in Mechanism Dynamics when you know the relative motion of two rigid bodies. You can also use servo motors to help you to determine the properties of a force motor that produces equivalent motion in your mechanism.

• Force Motors—Use force motors when you know how much force to apply to make your mechanism move.

• Springs—Use a spring to provide forces proportional to stretching. You can apply a spring to a motion axis or between two points.

• Dampers—Use a damper to remove energy from your mechanism's motion. A damper acts to slow down motion. You can apply a damper to a motion axis, to a slot-follower connection, or between two points.

• Force or Torque Loads—Use a force to act on a point in a specified direction, or a torque to act on a rigid body. You can also define a point-to-point force. You can define the direction of forces and torques relative to ground or relative to the rigid body to which the force or torque is applied.

• Gravity—Define an acceleration vector to simulate gravitational force acting on the entire mechanism in a specified direction.

• 3D Contact—Define the contact between a pair of selected surfaces (from two different rigid bodies) when there is contact between points or lines.

• Belt and Pulley system—Define a pulley to change the direction of an applied force, to transmit rotational motion, or, if the pulleys are of a different diameter, to increase or decrease the force along a linear or a rotational motion axis