Hey guys, I've nearly finished a little project I've been working on over the last few days. Take a look at these simulations: 1 Joint Springs 2 Joint Springs In both simulations you begin with an initial joint, press and hold to create new joints. You can also drag joints and, by pressing 1 or 2, you can alter the next joint type. I'm sure you'll work it out. The only major issue is that, with structures where there are multiple links per joint (so in the second example), the system does not swing around to find equilibrium at a more optimal point. That's a terrible explanation, but I hope you'll see what I mean. I have a rough idea of how to fix this, but I need some help. Say we have a structure, like one you could build in the second example, with more than 2 links per joint but only one stationary joint that the system is hanging from. I'm assuming that the centre of mass of the system should be underneath the stationary joint. I'm not exactly sure how to calculate the y-position required, however. (Perhaps I don't need to?) If, though, there are multiple stationary joints, where would the centre of mass of the system 'move to' if left to hang? Thanks for any help. :) Edit: Could this be done by taking moments about the centre of mass? Just a thought.