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Theory Manual Version 3.6
 Subsubsection 7.9.4.4: Reaction Moments from Torsional Dampers Up Subsection 7.9.4: Joint Reaction Forces and Moments Subsection 7.9.5: Prescribed Joint Forces and Moments 

7.9.4.5 Summary of Reaction Forces and Moment in Joints

Joint Spherical Revolute Prismatic Cylindrical Planar Lock
linear spring
torsional spring
linear damper
torsional damper
 Subsubsection 7.9.4.4: Reaction Moments from Torsional Dampers Up Subsection 7.9.4: Joint Reaction Forces and Moments Subsection 7.9.5: Prescribed Joint Forces and Moments