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Theory Manual Version 3.6
 Subsection 7.9.5: Prescribed Joint Forces and Moments Up Subsection 7.9.5: Prescribed Joint Forces and Moments Subsubsection 7.9.5.2: Prescribed Moment at Joint 

7.9.5.1 Prescribed Force at Joint

When a joint has a translational degree of freedom along , there may be a need to prescribe the force along that direction. This means that the reaction force may be supplemented with the force , and the linearization produces Thus, and
 Subsection 7.9.5: Prescribed Joint Forces and Moments Up Subsection 7.9.5: Prescribed Joint Forces and Moments Subsubsection 7.9.5.2: Prescribed Moment at Joint