Planar Joint
Use the Planar Joint node for 3D components to create a joint between two components such that they are free to translate relative to each other in a plane perpendicular to the joint axis and also free to rotate relative to each other about the same axis.
The Constraints, Locking, Spring and Damper, Prescribed Motion, Applied Force and Moment, and Friction subnodes can be added to modify the properties of the joint.
See Prismatic Joint for all settings — Attachment Selection, Center of Joint, Axis of Joint, Joint Elasticity, Joint Forces and Moments, and Sketch.
Planar Joint Theory
Location in User Interface
Context Menus
 Multibody Dynamics>Joints>Planar Joint
Ribbon
Physics tab with Multibody Dynamics selected:
Global>Joints>Planar Joint