Hello guys! I'm trying to model two shafts connected to each other by gears. I have two servo-controlled DC-motors, one on each shaft and I want them to work against each other. 1) I want to keep the angular velocity of Motor1 constant, so that the angular velocities of the two shafts are constant. This will result in the torque being close to 0 due to the formula: torque = (angular acceleration)x(inertia). 2) Once I get a constant angular velocity, I want Motor2 to apply a braking torque without changing the constant angular velocity. This will lead to internal torque on the two shaft but the total torque will still be close to zero due to the formula above. Question: How do I apply a breaking torque from Motor2 on the shafts without changing the angular velocities of the shafts? Motor2 is speed-controlled? This is a simple illustration of the coupling I have between the two motors and shafts: Motor1-->shaft1-->Gears<--shaft2<--Motor2 The formulas I've been looking at are as follows: 1) T1*w1 = T2*w2, T is torque and w1 is angular velocity (power is being conserved through the gears) 2) T = J*w, J is moment of inertia 3) w1 = n*w2, n is the gear ratio 4) M1 = M2/n Thanks in advance!