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Theory Manual Version 3.6
 Subsection 7.8.4: Discretization Up Chapter 7: Contact and Coupling Subsection 7.9.1: Virtual Work 

7.9 Rigid Connectors

A rigid connector connects two rigid bodies denoted by and . The connector origin (e.g., its insertion point) on rigid body is located at where is the connector origin position relative to the center of mass at the current time, whereas is its relative position in the reference configuration, when the rotation tensor is equal to the identity tensor. The connector is exerting a reaction force at and a reaction moment on rigid body , such that and .
Rigid body joints, such as spherical, revolute, prismatic, cylindrical and planar joints, are a special category of rigid connectors that have a large stiffness spring connecting the joint origins on each rigid body, in a manner that only allows relative motion along the joint translational degree(s) of freedom. Similarly, a large stiffness torsional spring connects the rigid bodies in a manner that only allows relative rotation along the joint rotational degree(s) of freedom.
Other connectors include springs, dampers, and contractile forces that may connect rigid bodies. Optionally, a joint may include a linear damper connecting its origins, and an angular damper restricting its relative rotation.
 Subsection 7.8.4: Discretization Up Chapter 7: Contact and Coupling Subsection 7.9.1: Virtual Work 

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