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Theory Manual Version 3.4
 Subsection 7.9.3: Relative Joint Motion Up Section 7.9: Rigid Connectors Subsubsection 7.9.4.1: Reaction Forces from Springs 

7.9.4 Joint Reaction Forces and Moments

Reaction forces are used to constrain the degrees of freedom of a joint that connects two rigid bodies. Typically, these forces are generated by very stiff springs and dampers that only allow unrestricted motion along the joint degrees of freedom.
 Subsection 7.9.3: Relative Joint Motion Up Section 7.9: Rigid Connectors Subsubsection 7.9.4.1: Reaction Forces from Springs 

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