Note that the symbolic expressions given to specify friction forces may have discontinuities, so it is possible to represent such things as the sign change in static friction upon a direction reversal. Mechanical Systems comes with complete documentation in the form of online Mathematica notebooks and a printed user's guide with a reference section. Each notebook contains several examples of complete mechanism models. These examples may be used as templates for your own models. Mechanical Systems requires Mathematica 2.2 or later and is available for all platforms that run Mathematica 2.2 or later.
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