This information is part of the Modelica Standard Library maintained by the Modelica Association.

The MultiBody library has the feature that all components can be connected together in a nearly arbitrary fashion. Therefore, kinematic loop structures pose in principal no problems. In this section several examples are given, the special treatment of planar loops is discussed and it is explained how a kinematic loop structure can be modeled such that the occurring non-linear algebraic equation systems are solved analytically. There are the following sub-chapters:

1. Introduction
2. Planar loops.
3. Analytic loop handling.