Inverse Kinematics Software with Gravity and Friction (1 Viewer)

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I have a multi component system, containing rotation of several linked elements, along with a linked rolling (w/friction) element, a beam element and GRAVITY. What I am trying to do is verify results for varriables calculated manually from constants and experimental data... does anyone know of an Inverse Kinematics Software Application with Gravity and Friction considerations? The system could be considered 2D.
 

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