time
body1.phi
body1.r[1]
body1.r[2]
body1.v[2]
body1.w
body2.v[1]
inertia.phi
inertia.w
inertia1.phi
inertia1.w
inertia2.phi
inertia2.w
inertia3.phi
inertia3.w
revolute2.phi
revolute2.w
