The Theory for Springs and Dampers on Joints section describes the theory for each of the different types of springs and dampers: translational, rotational, inclination angle, and axial rotation.
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For Force as function of extension, enter an expression for Fs. The expression can be a function of the spring extension. The built-in variable for the spring extension has the form <physicsName>.<JointTag>.<SpringAndDamperTag>.us (for example, mbd.prj1.sd1.us).
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For Moment as function of rotation, enter an expression for Ms. The expression can be a function of the spring rotation. The built-in variable for the spring rotation has the form <physicsName>.<JointTag>.<SpringAndDamperTag>.ths (for example, mbd.hgj1.sd1.ths).
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For Moment as function of rotation, enter an expression for Ms. The expression can be a function of the spring rotation. The built-in variable for the spring rotation has the form <physicsName>.<JointTag>.<SpringAndDamperTag>.ths (for example, mbd.blj1.sd1.ths).
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For Moment as function of rotation, enter an expression for Ms. The expression can be a function of the spring rotation. The built-in variable for the spring rotation has the form <physicsName>.<JointTag>.<SpringAndDamperTag>.psis (for example, mbd.blj1.sd1.psis).
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