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1-Junctions AA AA AA allowed BOND LIST bond numbers causality cc.c cc.c cc.c center of mass centroid connected constitutive relations constraints dashpots described desired displacement-modulated displacements Double Pendulum DTF bonds DTF element DTF's dynamic systems effort and flow energy ENPORT system Euler angles example Figure I-12b Figure I-la flow relations four-port MTF graph structure GY ON NODE GY's gyrostructure implemented inertia Karnopp Lagrangian line code matrix modulating variables moduli moments of inertia MTF's multiport MTF NODE LINEAR node list number of bonds O.OOOE 00 O.OOOE obtained one-Junctions one-ports parameter cards PDTF physical system power convention printout procedure represent rigid body rigid links RIGID-BODY DYNAMICS rotation routine second approach Section shovm shown in Figure sign convention sign of bond small-angle approximations springs and dashpots Stage standard elements subroutine system of Figure TF's torque Torsion Spring two-port type code velocity wlli X-axis