Hi guys! I have a question on applying constraint on Linkage systems. Assumed that there is a two dimensional one-bar linkage, one end can only rotate and one end is free (Such as the figure above, please neglect the damper-spring system if you want). This link can rotate only 180 degrees, not 360 degrees. But when I solve the equations of motion of this system, the animation shows that the system can rotate freely 360 degrees. I want to know that how it is possible to apply this constraint (rotating only between 0 degree and 180 degrees) in the equation of motion of this link ? Is it correct to solve the equation of motion and in the end, only consider the value between 0 degree and 180 degrees?! I would be grateful if you could help me with this problem.