diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9b1d412..e4da2f6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -278,6 +278,7 @@ set(ONDSELSOLVER_SRC
         OndselSolver/PointInLineJoint.cpp
         OndselSolver/PointInPlaneJoint.cpp
         OndselSolver/Polynomial.cpp
+        OndselSolver/PosICDragNewtonRaphson.cpp
         OndselSolver/PosICKineNewtonRaphson.cpp
         OndselSolver/PosICNewtonRaphson.cpp
         OndselSolver/PosKineNewtonRaphson.cpp
@@ -596,6 +597,7 @@ set(ONDSELSOLVER_HEADERS
         OndselSolver/PlanarJoint.h
         OndselSolver/PointInLineJoint.h
         OndselSolver/PointInPlaneJoint.h
+        OndselSolver/PosICDragNewtonRaphson.h
         OndselSolver/PosICKineNewtonRaphson.h
         OndselSolver/PosICNewtonRaphson.h
         OndselSolver/PosKineNewtonRaphson.h
diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp
index 264d119..68194b7 100644
--- a/OndselSolver/ASMTAssembly.cpp
+++ b/OndselSolver/ASMTAssembly.cpp
@@ -65,6 +65,12 @@ MbD::ASMTAssembly::ASMTAssembly() : ASMTSpatialContainer()
 	times = std::make_shared<FullRow<double>>();
 }
 
+std::shared_ptr<ASMTAssembly> MbD::ASMTAssembly::With()
+{
+	auto assembly = std::make_shared<ASMTAssembly>();
+	return assembly;
+}
+
 void MbD::ASMTAssembly::runSinglePendulumSuperSimplified()
 {
 	//In this version we skip declaration of variables that don't need as they use default values.
@@ -383,6 +389,28 @@ void MbD::ASMTAssembly::runSinglePendulum()
 	assembly->runKINEMATIC();
 }
 
+std::shared_ptr<ASMTAssembly> MbD::ASMTAssembly::assemblyFromFile(const char* fileName)
+{
+	std::ifstream stream(fileName);
+	if (stream.fail()) {
+		throw std::invalid_argument("File not found.");
+	}
+	std::string line;
+	std::vector<std::string> lines;
+	while (std::getline(stream, line)) {
+		lines.push_back(line);
+	}
+	auto assembly = ASMTAssembly::With();
+	auto str = assembly->popOffTop(lines);
+	bool bool1 = str == "freeCAD: 3D CAD with Motion Simulation  by  askoh.com";
+	bool bool2 = str == "OndselSolver";
+	assert(bool1 || bool2);
+	assert(assembly->readStringOffTop(lines) == "Assembly");
+	assembly->setFilename(fileName);
+	assembly->parseASMT(lines);
+	return assembly;
+}
+
 void MbD::ASMTAssembly::runFile(const char* fileName)
 {
 	std::ifstream stream(fileName);
@@ -408,6 +436,25 @@ void MbD::ASMTAssembly::runFile(const char* fileName)
 	}
 }
 
+void MbD::ASMTAssembly::runDraggingTest()
+{
+	auto assembly = ASMTAssembly::assemblyFromFile("../testapp/dragCrankSlider.asmt");
+	auto dragPart = assembly->parts->at(0);
+	auto dragParts = std::make_shared<std::vector<std::shared_ptr<ASMTPart>>>();
+	dragParts->push_back(dragPart);
+	assembly->runPreDrag();	//Do this before first drag
+	FColDsptr pos3D, delta;
+	pos3D = dragPart->position3D;
+	delta = std::make_shared<FullColumn<double>>(ListD{ 0.1, 0.2, 0.3 });
+	dragPart->updateMbDFromPosition3D(pos3D->plusFullColumn(delta));
+	assembly->runDragStep(dragParts);
+	pos3D = dragPart->position3D;
+	delta = std::make_shared<FullColumn<double>>(ListD{ 0.3, 0.2, 0.1 });
+	dragPart->updateMbDFromPosition3D(pos3D->plusFullColumn(delta));
+	assembly->runDragStep(dragParts);
+	assembly->runPostDrag();	//Do this after last drag
+}
+
 void MbD::ASMTAssembly::readWriteFile(const char* fileName)
 {
 	std::ifstream stream(fileName);
@@ -1046,10 +1093,36 @@ void MbD::ASMTAssembly::solve()
 	runKINEMATIC();
 }
 
+void MbD::ASMTAssembly::runPreDrag()
+{
+	mbdSystem = std::make_shared<System>();
+	mbdSystem->externalSystem->asmtAssembly = this;
+	try {
+		mbdSystem->runPreDrag(mbdSystem);
+	}
+	catch (SimulationStoppingError ex) {
+
+	}
+}
+
+void MbD::ASMTAssembly::runDragStep(std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> dragParts)
+{
+	auto dragMbDParts = std::make_shared<std::vector<std::shared_ptr<Part>>>();
+	for (auto& dragPart : *dragParts) {
+		auto dragMbDPart = std::static_pointer_cast<Part>(dragPart->mbdObject);
+		dragMbDParts->push_back(dragMbDPart);
+	}
+	mbdSystem->runDragStep(dragMbDParts);
+}
+
+void MbD::ASMTAssembly::runPostDrag()
+{
+	runPreDrag();
+}
+
 void MbD::ASMTAssembly::runKINEMATIC()
 {
-	auto mbdSystem = std::make_shared<System>();
-	mbdObject = mbdSystem;
+	mbdSystem = std::make_shared<System>();
 	mbdSystem->externalSystem->asmtAssembly = this;
 	try {
 		mbdSystem->runKINEMATIC(mbdSystem);
diff --git a/OndselSolver/ASMTAssembly.h b/OndselSolver/ASMTAssembly.h
index 7f24a76..3cf4af5 100644
--- a/OndselSolver/ASMTAssembly.h
+++ b/OndselSolver/ASMTAssembly.h
@@ -33,11 +33,14 @@ namespace MbD {
 		//
 	public:
 		ASMTAssembly();
+		static std::shared_ptr<ASMTAssembly> With();
 		static void runSinglePendulumSuperSimplified();
 		static void runSinglePendulumSuperSimplified2();
 		static void runSinglePendulumSimplified();
 		static void runSinglePendulum();
+		static std::shared_ptr<ASMTAssembly> assemblyFromFile(const char* chars);
 		static void runFile(const char* chars);
+		static void runDraggingTest();
 		static void readWriteFile(const char* chars);
 		void initialize() override;
 		ASMTAssembly* root() override;
@@ -83,6 +86,9 @@ namespace MbD {
 		/* This function performs a one shot solve of the assembly.*/
 		void solve();
 
+		void runPreDrag();
+		void runDragStep(std::shared_ptr<std::vector<std::shared_ptr<ASMTPart>>> dragParts);
+		void runPostDrag();
 		void runKINEMATIC();
 		void initprincipalMassMarker();
 		std::shared_ptr<ASMTSpatialContainer> spatialContainerAt(std::shared_ptr<ASMTAssembly> self, std::string& longname);
@@ -128,6 +134,7 @@ namespace MbD {
 		std::shared_ptr<std::vector<double>> times = std::make_shared<std::vector<double>>();
 		std::shared_ptr<ASMTTime> asmtTime = std::make_shared<ASMTTime>();
 		std::shared_ptr<Units> mbdUnits = std::make_shared<Units>();
+		std::shared_ptr<System> mbdSystem;
 		MBDynSystem* mbdynItem = nullptr;
 	};
 }
diff --git a/OndselSolver/ASMTItem.cpp b/OndselSolver/ASMTItem.cpp
index 0f81a50..a56f3a6 100644
--- a/OndselSolver/ASMTItem.cpp
+++ b/OndselSolver/ASMTItem.cpp
@@ -56,6 +56,22 @@ void MbD::ASMTItem::parseASMT(std::vector<std::string>&)
 	assert(false);
 }
 
+std::string MbD::ASMTItem::popOffTop(std::vector<std::string>& args)
+{
+	auto str = args.at(0);	//Must copy string
+	args.erase(args.begin());
+	return str;
+}
+
+std::string MbD::ASMTItem::readStringOffTop(std::vector<std::string>& args)
+{
+	auto iss = std::istringstream(args.at(0));
+	args.erase(args.begin());
+	std::string str;
+	iss >> str;
+	return str;
+}
+
 FRowDsptr MbD::ASMTItem::readRowOfDoubles(std::string& line)
 {
 	std::istringstream iss(line);
diff --git a/OndselSolver/ASMTItem.h b/OndselSolver/ASMTItem.h
index 6754b30..848cc7b 100644
--- a/OndselSolver/ASMTItem.h
+++ b/OndselSolver/ASMTItem.h
@@ -19,6 +19,7 @@ namespace MbD {
 	{
 		//
 	public:
+		ASMTItem() {}
 		virtual ~ASMTItem() {}
 		virtual ASMTAssembly* root();
 		virtual ASMTSpatialContainer* partOrAssembly();
@@ -29,6 +30,8 @@ namespace MbD {
 		virtual std::string classname();
 		void setName(std::string str);
 		virtual void parseASMT(std::vector<std::string>& lines);
+		std::string popOffTop(std::vector<std::string>& args);
+		std::string readStringOffTop(std::vector<std::string>& args);
 		FRowDsptr readRowOfDoubles(std::string& line);
 		FColDsptr readColumnOfDoubles(std::string& line);
 		double readDouble(std::string& line);
diff --git a/OndselSolver/ASMTMarker.cpp b/OndselSolver/ASMTMarker.cpp
index e99bf74..3355652 100644
--- a/OndselSolver/ASMTMarker.cpp
+++ b/OndselSolver/ASMTMarker.cpp
@@ -15,57 +15,57 @@
 #include "MarkerFrame.h"
 #include "ASMTPrincipalMassMarker.h"
 
-namespace MbD {
-    void ASMTMarker::parseASMT(std::vector<std::string>& lines)
-    {
-        readName(lines);
-        readPosition3D(lines);
-        readRotationMatrix(lines);
-    }
+using namespace MbD;
 
-    FColDsptr ASMTMarker::rpmp()
-    {
-        //p is cm
-        auto refItem = static_cast<ASMTRefItem*>(owner);
-        auto& rPrefP = refItem->position3D;
-        auto& aAPref = refItem->rotationMatrix;
-        auto& rrefmref = position3D;
-        auto rPmP = rPrefP->plusFullColumn(aAPref->timesFullColumn(rrefmref));
-        auto& principalMassMarker = static_cast<ASMTPart*>(refItem->owner)->principalMassMarker;
-        auto& rPcmP = principalMassMarker->position3D;
-        auto& aAPcm = principalMassMarker->rotationMatrix;
-        auto rpmp = aAPcm->transposeTimesFullColumn(rPmP->minusFullColumn(rPcmP));
-        return rpmp;
-    }
+void ASMTMarker::parseASMT(std::vector<std::string>& lines)
+{
+	readName(lines);
+	readPosition3D(lines);
+	readRotationMatrix(lines);
+}
 
-    FMatDsptr ASMTMarker::aApm()
-    {
-        //p is cm
-        auto refItem = static_cast<ASMTRefItem*>(owner);
-        auto& aAPref = refItem->rotationMatrix;
-        auto& aArefm = rotationMatrix;
-        auto& principalMassMarker = static_cast<ASMTPart*>(refItem->owner)->principalMassMarker;
-        auto& aAPcm = principalMassMarker->rotationMatrix;
-        auto aApm = aAPcm->transposeTimesFullMatrix(aAPref->timesFullMatrix(aArefm));
-        return aApm;
-    }
+FColDsptr ASMTMarker::rpmp()
+{
+	//p is cm
+	auto refItem = static_cast<ASMTRefItem*>(owner);
+	auto& rPrefP = refItem->position3D;
+	auto& aAPref = refItem->rotationMatrix;
+	auto& rrefmref = position3D;
+	auto rPmP = rPrefP->plusFullColumn(aAPref->timesFullColumn(rrefmref));
+	auto& principalMassMarker = static_cast<ASMTPart*>(refItem->owner)->principalMassMarker;
+	auto& rPcmP = principalMassMarker->position3D;
+	auto& aAPcm = principalMassMarker->rotationMatrix;
+	auto rpmp = aAPcm->transposeTimesFullColumn(rPmP->minusFullColumn(rPcmP));
+	return rpmp;
+}
 
-    void ASMTMarker::createMbD(std::shared_ptr<System>, std::shared_ptr<Units> mbdUnits)
-    {
-        auto mkr = CREATE<MarkerFrame>::With(name.c_str());
-        auto prt = std::static_pointer_cast<Part>(partOrAssembly()->mbdObject);
-        prt->partFrame->addMarkerFrame(mkr);
+FMatDsptr ASMTMarker::aApm()
+{
+	//p is cm
+	auto refItem = static_cast<ASMTRefItem*>(owner);
+	auto& aAPref = refItem->rotationMatrix;
+	auto& aArefm = rotationMatrix;
+	auto& principalMassMarker = static_cast<ASMTPart*>(refItem->owner)->principalMassMarker;
+	auto& aAPcm = principalMassMarker->rotationMatrix;
+	auto aApm = aAPcm->transposeTimesFullMatrix(aAPref->timesFullMatrix(aArefm));
+	return aApm;
+}
 
-        mkr->rpmp = rpmp()->times(1.0 / mbdUnits->length);
-        mkr->aApm = aApm();
-        mbdObject = mkr->endFrames->at(0);
-    }
+void ASMTMarker::createMbD(std::shared_ptr<System>, std::shared_ptr<Units> mbdUnits)
+{
+	auto mkr = CREATE<MarkerFrame>::With(name.c_str());
+	auto prt = std::static_pointer_cast<Part>(partOrAssembly()->mbdObject);
+	prt->partFrame->addMarkerFrame(mkr);
+
+	mkr->rpmp = rpmp()->times(1.0 / mbdUnits->length);
+	mkr->aApm = aApm();
+	mbdObject = mkr->endFrames->at(0);
+}
 
-    void ASMTMarker::storeOnLevel(std::ofstream& os, int level)
-    {
-        storeOnLevelString(os, level, "Marker");
-        storeOnLevelString(os, level + 1, "Name");
-        storeOnLevelString(os, level + 2, name);
-        ASMTSpatialItem::storeOnLevel(os, level);
-    }
+void ASMTMarker::storeOnLevel(std::ofstream& os, int level)
+{
+	storeOnLevelString(os, level, "Marker");
+	storeOnLevelString(os, level + 1, "Name");
+	storeOnLevelString(os, level + 2, name);
+	ASMTSpatialItem::storeOnLevel(os, level);
 }
diff --git a/OndselSolver/ASMTMotion.cpp b/OndselSolver/ASMTMotion.cpp
index c7d4da1..7967d99 100644
--- a/OndselSolver/ASMTMotion.cpp
+++ b/OndselSolver/ASMTMotion.cpp
@@ -9,36 +9,36 @@
 
 #include "ASMTMotion.h"
 
-namespace MbD {
-    void ASMTMotion::readMotionSeries(std::vector<std::string>& lines)
-    {
-        std::string str = lines[0];
-        std::string substr = "MotionSeries";
-        auto pos = str.find(substr);
-        assert(pos != std::string::npos);
-        str.erase(0, pos + substr.length());
-        auto seriesName = readString(str);
-        assert(fullName("") == seriesName);
-        lines.erase(lines.begin());
-        readFXonIs(lines);
-        readFYonIs(lines);
-        readFZonIs(lines);
-        readTXonIs(lines);
-        readTYonIs(lines);
-        readTZonIs(lines);
-    }
+using namespace MbD;
 
-    void ASMTMotion::initMarkers()
-    {
-    }
+void ASMTMotion::readMotionSeries(std::vector<std::string>& lines)
+{
+	std::string str = lines[0];
+	std::string substr = "MotionSeries";
+	auto pos = str.find(substr);
+	assert(pos != std::string::npos);
+	str.erase(0, pos + substr.length());
+	auto seriesName = readString(str);
+	assert(fullName("") == seriesName);
+	lines.erase(lines.begin());
+	readFXonIs(lines);
+	readFYonIs(lines);
+	readFZonIs(lines);
+	readTXonIs(lines);
+	readTYonIs(lines);
+	readTZonIs(lines);
+}
+
+void ASMTMotion::initMarkers()
+{
+}
 
-    void ASMTMotion::storeOnLevel(std::ofstream&, int)
-    {
-        assert(false);
-    }
+void ASMTMotion::storeOnLevel(std::ofstream&, int)
+{
+	assert(false);
+}
 
-    void ASMTMotion::storeOnTimeSeries(std::ofstream&)
-    {
-        assert(false);
-    }
+void ASMTMotion::storeOnTimeSeries(std::ofstream&)
+{
+	assert(false);
 }
diff --git a/OndselSolver/ASMTRotationalMotion.cpp b/OndselSolver/ASMTRotationalMotion.cpp
index c43bd3b..34819c8 100644
--- a/OndselSolver/ASMTRotationalMotion.cpp
+++ b/OndselSolver/ASMTRotationalMotion.cpp
@@ -73,7 +73,7 @@ void MbD::ASMTRotationalMotion::createMbD(std::shared_ptr<System> mbdSys, std::s
 	geoPhi->createMbD(mbdSys, mbdUnits);
 	//std::cout << *geoPhi << std::endl;
 	auto simple = geoPhi->simplified(geoPhi);
-	//std::cout << *simple << std::endl;
+	std::cout << *simple << std::endl;
 	std::static_pointer_cast<ZRotation>(mbdObject)->phiBlk = simple;
 }
 
diff --git a/OndselSolver/ASMTSpatialContainer.cpp b/OndselSolver/ASMTSpatialContainer.cpp
index 6ff4abd..21bf372 100644
--- a/OndselSolver/ASMTSpatialContainer.cpp
+++ b/OndselSolver/ASMTSpatialContainer.cpp
@@ -20,7 +20,7 @@
 
 using namespace MbD;
 
-MbD::ASMTSpatialContainer::ASMTSpatialContainer()
+MbD::ASMTSpatialContainer::ASMTSpatialContainer() : ASMTSpatialItem()
 {
 	refPoints = std::make_shared<std::vector<std::shared_ptr<ASMTRefPoint>>>();
 	refCurves = std::make_shared<std::vector<std::shared_ptr<ASMTRefCurve>>>();
@@ -293,6 +293,14 @@ void MbD::ASMTSpatialContainer::createMbD(std::shared_ptr<System> mbdSys, std::s
 	}
 }
 
+void MbD::ASMTSpatialContainer::updateMbDFromPosition3D(FColDsptr vec)
+{
+	position3D = vec;
+	auto mbdPart = std::static_pointer_cast<Part>(mbdObject);
+	auto mbdUnits = this->mbdUnits();
+	mbdPart->qX(rOcmO()->times(1.0 / mbdUnits->length));
+}
+
 FColDsptr MbD::ASMTSpatialContainer::rOcmO()
 {
 	auto& rOPO = position3D;
diff --git a/OndselSolver/ASMTSpatialContainer.h b/OndselSolver/ASMTSpatialContainer.h
index 415ac21..3581726 100644
--- a/OndselSolver/ASMTSpatialContainer.h
+++ b/OndselSolver/ASMTSpatialContainer.h
@@ -61,6 +61,7 @@ namespace MbD {
         void readAlphaYs(std::vector<std::string>& lines);
         void readAlphaZs(std::vector<std::string>& lines);
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
+        void updateMbDFromPosition3D(FColDsptr position3D);
         FColDsptr rOcmO();
         std::shared_ptr<EulerParameters<double>> qEp();
         virtual FColDsptr vOcmO();
diff --git a/OndselSolver/ASMTSpatialItem.cpp b/OndselSolver/ASMTSpatialItem.cpp
index b64f8f8..91bf043 100644
--- a/OndselSolver/ASMTSpatialItem.cpp
+++ b/OndselSolver/ASMTSpatialItem.cpp
@@ -14,6 +14,10 @@
 
 using namespace MbD;
 
+MbD::ASMTSpatialItem::ASMTSpatialItem() : ASMTItem()
+{
+}
+
 void MbD::ASMTSpatialItem::setPosition3D(FColDsptr vec)
 {
 	position3D = vec;
diff --git a/OndselSolver/ASMTSpatialItem.h b/OndselSolver/ASMTSpatialItem.h
index 16b81ea..acbf796 100644
--- a/OndselSolver/ASMTSpatialItem.h
+++ b/OndselSolver/ASMTSpatialItem.h
@@ -15,6 +15,7 @@ namespace MbD {
 	{
 		//
 	public:
+		ASMTSpatialItem();
 		void setPosition3D(FColDsptr position3D);
 		void setRotationMatrix(FMatDsptr rotationMatrix);
 		void readPosition3D(std::vector<std::string>& lines);
diff --git a/OndselSolver/Array.h b/OndselSolver/Array.h
index 39eccad..a3aca4c 100644
--- a/OndselSolver/Array.h
+++ b/OndselSolver/Array.h
@@ -116,7 +116,7 @@ namespace MbD {
 	inline double Array<T>::maxMagnitudeOfVector()
 	{
 		double answer = 0.0;
-		for (int i = 0; i < (int)this->size(); i++)
+		for (int i = 0; i < this->size(); i++)
 		{
 			double mag = std::abs(this->at(i));
 			if (answer < mag) answer = mag;
diff --git a/OndselSolver/DirectionCosineIecJec.cpp b/OndselSolver/DirectionCosineIecJec.cpp
index 942570f..1c3e89e 100644
--- a/OndselSolver/DirectionCosineIecJec.cpp
+++ b/OndselSolver/DirectionCosineIecJec.cpp
@@ -5,32 +5,31 @@
  *                                                                         *
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
- 
+
 #include <memory>
 
 #include "DirectionCosineIecJec.h"
 #include "EndFramec.h"
 
-namespace MbD {
-    DirectionCosineIecJec::DirectionCosineIecJec()
-    = default;
+using namespace MbD;
 
-    DirectionCosineIecJec::DirectionCosineIecJec(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) :
-            KinematicIeJe(frmi, frmj), axisI(axisi), axisJ(axisj)
-    {
+DirectionCosineIecJec::DirectionCosineIecJec()
+= default;
 
-    }
+DirectionCosineIecJec::DirectionCosineIecJec(EndFrmsptr frmi, EndFrmsptr frmj, int axisi, int axisj) :
+	KinematicIeJe(frmi, frmj), axisI(axisi), axisJ(axisj)
+{
 
-    void DirectionCosineIecJec::calcPostDynCorrectorIteration()
-    {
-        aAjOIe = frmI->aAjOe(axisI);
-        aAjOJe = frmJ->aAjOe(axisJ);
-        aAijIeJe = aAjOIe->dot(aAjOJe);
-    }
+}
 
-    double MbD::DirectionCosineIecJec::value()
-    {
-        return aAijIeJe;
-    }
+void DirectionCosineIecJec::calcPostDynCorrectorIteration()
+{
+	aAjOIe = frmI->aAjOe(axisI);
+	aAjOJe = frmJ->aAjOe(axisJ);
+	aAijIeJe = aAjOIe->dot(aAjOJe);
 }
 
+double MbD::DirectionCosineIecJec::value()
+{
+	return aAijIeJe;
+}
diff --git a/OndselSolver/ExternalSystem.cpp b/OndselSolver/ExternalSystem.cpp
index e886be8..4982958 100644
--- a/OndselSolver/ExternalSystem.cpp
+++ b/OndselSolver/ExternalSystem.cpp
@@ -26,6 +26,19 @@ void MbD::ExternalSystem::preMbDrun(std::shared_ptr<System> mbdSys)
 	}
 }
 
+void MbD::ExternalSystem::updateFromMbD()
+{
+	if (cadSystem) {
+		cadSystem->updateFromMbD();
+	}
+	else if (asmtAssembly) {
+		asmtAssembly->updateFromMbD();
+	}
+	else {
+		assert(false);
+	}
+}
+
 void MbD::ExternalSystem::outputFor(AnalysisType type)
 {
 	if (cadSystem) {
diff --git a/OndselSolver/ExternalSystem.h b/OndselSolver/ExternalSystem.h
index 0b646df..743f044 100644
--- a/OndselSolver/ExternalSystem.h
+++ b/OndselSolver/ExternalSystem.h
@@ -25,6 +25,7 @@ namespace MbD {
 		//
 	public:
 		void preMbDrun(std::shared_ptr<System> mbdSys);
+		void updateFromMbD();
 		void outputFor(AnalysisType type);
 		void logString(std::string& str);
 		void logString(double value);
diff --git a/OndselSolver/OndselSolver.vcxproj b/OndselSolver/OndselSolver.vcxproj
index a319746..fc475b7 100644
--- a/OndselSolver/OndselSolver.vcxproj
+++ b/OndselSolver/OndselSolver.vcxproj
@@ -272,6 +272,7 @@
     <ClCompile Include="Negative.cpp" />
     <ClCompile Include="PiecewiseFunction.cpp" />
     <ClCompile Include="Polynomial.cpp" />
+    <ClCompile Include="PosICDragNewtonRaphson.cpp" />
     <ClCompile Include="PosVelAccData.cpp" />
     <ClCompile Include="DiagonalMatrix.cpp" />
     <ClCompile Include="DifferenceOperator.cpp" />
@@ -596,6 +597,7 @@
     <ClInclude Include="Negative.h" />
     <ClInclude Include="PiecewiseFunction.h" />
     <ClInclude Include="Polynomial.h" />
+    <ClInclude Include="PosICDragNewtonRaphson.h" />
     <ClInclude Include="PosVelAccData.h" />
     <ClInclude Include="DiagonalMatrix.h" />
     <ClInclude Include="DifferenceOperator.h" />
diff --git a/OndselSolver/OndselSolver.vcxproj.filters b/OndselSolver/OndselSolver.vcxproj.filters
index 3acfe84..8f63dfa 100644
--- a/OndselSolver/OndselSolver.vcxproj.filters
+++ b/OndselSolver/OndselSolver.vcxproj.filters
@@ -975,6 +975,15 @@
     <ClCompile Include="Arguments.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="ASMTRevRevJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="RevRevJoint.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="PosICDragNewtonRaphson.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="Array.h">
@@ -1943,6 +1952,15 @@
     <ClInclude Include="Arguments.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="ASMTRevRevJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="RevRevJoint.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="PosICDragNewtonRaphson.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ResourceCompile Include="OndselSolver.rc">
diff --git a/OndselSolver/PosICDragNewtonRaphson.cpp b/OndselSolver/PosICDragNewtonRaphson.cpp
new file mode 100644
index 0000000..e9b807b
--- /dev/null
+++ b/OndselSolver/PosICDragNewtonRaphson.cpp
@@ -0,0 +1,81 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#include "PosICDragNewtonRaphson.h"
+#include "SystemSolver.h"
+#include "Part.h"
+#include "Constraint.h"
+
+using namespace MbD;
+
+std::shared_ptr<PosICDragNewtonRaphson> MbD::PosICDragNewtonRaphson::With()
+{
+	auto newtonRaphson = std::make_shared<PosICDragNewtonRaphson>();
+	newtonRaphson->initialize();
+	return newtonRaphson;
+}
+
+void MbD::PosICDragNewtonRaphson::initializeGlobally()
+{
+	AnyPosICNewtonRaphson::initializeGlobally();
+	iterMax = system->iterMaxPosKine;
+	dxTol = system->errorTolPosKine;
+	for (int i = 0; i < qsuWeights->size(); i++)
+	{
+		qsuWeights->at(i) = 1.0e3;	//minimum weight
+	}
+	for (auto& part : *dragParts) {
+		auto iqX = part->iqX();
+		for (int i = 0; i < 3; i++)
+		{
+			qsuWeights->at((size_t)iqX + i) = 1.0e6;	//maximum weight
+		}
+	}
+}
+
+void MbD::PosICDragNewtonRaphson::assignEquationNumbers()
+{
+	auto parts = system->parts();
+	//auto contactEndFrames = system->contactEndFrames();
+	//auto uHolders = system->uHolders();
+	auto constraints = system->allConstraints();
+	int eqnNo = 0;
+	for (auto& part : *parts) {
+		part->iqX(eqnNo);
+		eqnNo = eqnNo + 3;
+		part->iqE(eqnNo);
+		eqnNo = eqnNo + 4;
+	}
+	//for (auto& endFrm : *contactEndFrames) {
+	//	endFrm->is(eqnNo);
+	//	eqnNo = eqnNo + endFrm->sSize();
+	//}
+	//for (auto& uHolder : *uHolders) {
+	//	uHolder->iu(eqnNo);
+	//	eqnNo += 1;
+	//}
+	auto nEqns = eqnNo;	//C++ uses index 0.
+	nqsu = nEqns;
+	for (auto& con : *constraints) {
+		con->iG = eqnNo;
+		eqnNo += 1;
+	}
+	//auto lastEqnNo = eqnNo - 1;
+	nEqns = eqnNo;	//C++ uses index 0.
+	n = nEqns;
+}
+
+bool MbD::PosICDragNewtonRaphson::isConverged()
+{
+	return dxNorms->at(iterNo) < dxTol || isConvergedToNumericalLimit();
+}
+
+void MbD::PosICDragNewtonRaphson::setdragParts(std::shared_ptr<std::vector<std::shared_ptr<Part>>> _dragParts)
+{
+	dragParts = _dragParts;
+}
diff --git a/OndselSolver/PosICDragNewtonRaphson.h b/OndselSolver/PosICDragNewtonRaphson.h
new file mode 100644
index 0000000..8e4debd
--- /dev/null
+++ b/OndselSolver/PosICDragNewtonRaphson.h
@@ -0,0 +1,29 @@
+/***************************************************************************
+ *   Copyright (c) 2023 Ondsel, Inc.                                       *
+ *                                                                         *
+ *   This file is part of OndselSolver.                                    *
+ *                                                                         *
+ *   See LICENSE file for details about copyright.                         *
+ ***************************************************************************/
+
+#pragma once
+
+#include "AnyPosICNewtonRaphson.h"
+
+namespace MbD {
+    class Part;
+
+    class PosICDragNewtonRaphson : public AnyPosICNewtonRaphson
+    {
+        //Kinematics with under constrained system
+    public:
+        static std::shared_ptr<PosICDragNewtonRaphson> With();
+        void initializeGlobally() override;
+        void assignEquationNumbers() override;
+        bool isConverged() override;
+        void setdragParts(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts);
+
+        std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts;
+    };
+}
+
diff --git a/OndselSolver/System.cpp b/OndselSolver/System.cpp
index 70c2a81..49ec1a4 100644
--- a/OndselSolver/System.cpp
+++ b/OndselSolver/System.cpp
@@ -104,6 +104,27 @@ void System::clear()
 	forcesTorques->clear();
 }
 
+void MbD::System::runPreDrag(std::shared_ptr<System> self)
+{
+	externalSystem->preMbDrun(self);
+	while (true)
+	{
+		initializeLocally();
+		initializeGlobally();
+		if (!hasChanged) break;
+	}
+	partsJointsMotionsForcesTorquesDo([](std::shared_ptr<Item> item) { item->postInput(); });
+	systemSolver->runPreDrag();
+	externalSystem->updateFromMbD();
+}
+
+void MbD::System::runDragStep(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts)
+{
+	partsJointsMotionsForcesTorquesDo([](std::shared_ptr<Item> item) { item->postInput(); });
+	systemSolver->runDragStep(dragParts);
+	externalSystem->updateFromMbD();
+}
+
 std::shared_ptr<std::vector<std::string>> System::discontinuitiesAtIC()
 {
 	return std::make_shared<std::vector<std::string>>();
diff --git a/OndselSolver/System.h b/OndselSolver/System.h
index cb4f58a..2a76f40 100644
--- a/OndselSolver/System.h
+++ b/OndselSolver/System.h
@@ -43,6 +43,8 @@ namespace MbD {
 		void initializeLocally() override;
 		void initializeGlobally() override;
 		void clear();
+		void runPreDrag(std::shared_ptr<System> self);
+		void runDragStep(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts);
 		void runKINEMATIC(std::shared_ptr<System> self);
 		std::shared_ptr<std::vector<std::string>> discontinuitiesAtIC();
 		void jointsMotionsDo(const std::function <void(std::shared_ptr<Joint>)>& f);
diff --git a/OndselSolver/SystemSolver.cpp b/OndselSolver/SystemSolver.cpp
index abda70e..a2f3b96 100644
--- a/OndselSolver/SystemSolver.cpp
+++ b/OndselSolver/SystemSolver.cpp
@@ -28,6 +28,7 @@
 #include "AccKineNewtonRaphson.h"
 #include "VelICKineSolver.h"
 #include "AccICKineNewtonRaphson.h"
+#include "PosICDragNewtonRaphson.h"
 
 using namespace MbD;
 
@@ -164,6 +165,18 @@ void SystemSolver::runBasicKinematic()
 	}
 }
 
+void SystemSolver::runPreDrag()
+{
+	initializeLocally();
+	initializeGlobally();
+	runPosIC();
+}
+
+void MbD::SystemSolver::runDragStep(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts)
+{
+	runPosICDrag(dragParts);
+}
+
 void SystemSolver::runQuasiKinematic()
 {
 	try {
@@ -197,6 +210,15 @@ void SystemSolver::runAccKine()
 	icTypeSolver->run();
 }
 
+void MbD::SystemSolver::runPosICDrag(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts)
+{
+	auto newtonRaphson = PosICDragNewtonRaphson::With();
+	newtonRaphson->setdragParts(dragParts);
+	icTypeSolver = newtonRaphson;
+	icTypeSolver->setSystem(this);
+	icTypeSolver->run();
+}
+
 void SystemSolver::runPosICKine()
 {
 	icTypeSolver = CREATE<PosICKineNewtonRaphson>::With();
diff --git a/OndselSolver/SystemSolver.h b/OndselSolver/SystemSolver.h
index c19073e..d93c51b 100644
--- a/OndselSolver/SystemSolver.h
+++ b/OndselSolver/SystemSolver.h
@@ -48,10 +48,13 @@ namespace MbD {
 		void runCollisionDerivativeIC();
 		void runBasicCollision();
 		void runBasicKinematic();
+		void runPreDrag();
+		void runDragStep(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts);
 		void runQuasiKinematic();
 		void runPosKine();
 		void runVelKine();
 		void runAccKine();
+		void runPosICDrag(std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts);
 		void runPosICKine();
 		void runVelICKine();
 		void runAccICKine();
diff --git a/testapp/OndselSolver.cpp b/testapp/OndselSolver.cpp
index 01c0213..38861be 100644
--- a/testapp/OndselSolver.cpp
+++ b/testapp/OndselSolver.cpp
@@ -26,6 +26,8 @@ void sharedptrTest();
 
 int main()
 {
+	ASMTAssembly::runDraggingTest();
+	ASMTAssembly::runFile("../testapp/Schmidt_Coupling_Ass_1-1.asmt");
 	ASMTAssembly::runFile("../testapp/RevRevJt.asmt");
 	ASMTAssembly::runFile("../testapp/RevCylJt.asmt");
 	ASMTAssembly::runFile("../testapp/CylSphJt.asmt");
diff --git a/testapp/Schmidt_Coupling_Ass_1-1.asmt b/testapp/Schmidt_Coupling_Ass_1-1.asmt
new file mode 100644
index 0000000..c0b7c04
--- /dev/null
+++ b/testapp/Schmidt_Coupling_Ass_1-1.asmt
@@ -0,0 +1,1135 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
+	Name
+		OndselAssembly
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+				0	0	1	
+			Markers
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+		RefPoint
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+			RotationMatrix
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+				0	1	0	
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+			Markers
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+					Name
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+						45.34564379180044	89.60432303265266	-8.640919620684906	
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+	RefCurves
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+				0	1	-0	
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+			RefCurves
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diff --git a/testapp/Schmidt_Coupling_Ass_1-2.asmt b/testapp/Schmidt_Coupling_Ass_1-2.asmt
new file mode 100644
index 0000000..bd3cfdc
--- /dev/null
+++ b/testapp/Schmidt_Coupling_Ass_1-2.asmt
@@ -0,0 +1,1135 @@
+OndselSolver
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diff --git a/testapp/Schmidt_Coupling_Ass_1a.asmt b/testapp/Schmidt_Coupling_Ass_1a.asmt
new file mode 100644
index 0000000..5ce0d3c
--- /dev/null
+++ b/testapp/Schmidt_Coupling_Ass_1a.asmt
@@ -0,0 +1,1135 @@
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+					/OndselAssembly/Schmidt_Coupling_Ass_1#Link002/Schmidt_Coupling_Ass_1#Cylindrical001
+			CylindricalJoint
+				Name
+					
+				MarkerI
+					/OndselAssembly/Schmidt_Coupling_Ass_1#Body006/Schmidt_Coupling_Ass_1#Cylindrical002
+				MarkerJ
+					/OndselAssembly/Schmidt_Coupling_Ass_1#Body005/Schmidt_Coupling_Ass_1#Cylindrical002
+			CylindricalJoint
+				Name
+					
+				MarkerI
+					/OndselAssembly/Schmidt_Coupling_Ass_1#Part003002/Schmidt_Coupling_Ass_1#Cylindrical003
+				MarkerJ
+					/OndselAssembly/Schmidt_Coupling_Ass_1#Body007/Schmidt_Coupling_Ass_1#Cylindrical003
+			CylindricalJoint
+				Name
+					
+				MarkerI
+					/OndselAssembly/Schmidt_Coupling_Ass_1#Body005/Schmidt_Coupling_Ass_1#Cylindrical004
+				MarkerJ
+					/OndselAssembly/Schmidt_Coupling_Ass_1#Body008/Schmidt_Coupling_Ass_1#Cylindrical004
+			FixedJoint
+				Name
+					
+				MarkerI
+					/OndselAssembly/Schmidt_Coupling_Ass_1#Body005/Schmidt_Coupling_Ass_1#Fixed
+				MarkerJ
+					/OndselAssembly/Schmidt_Coupling_Ass_1#Link/Schmidt_Coupling_Ass_1#Fixed
+		Motions
+		GeneralConstraintSets
+	ForceTorques
+	ConstantGravity
+		0	0	0	
+	SimulationParameters
+		tstart
+			0
+		tend
+			1
+		hmin
+			1e-09
+		hmax
+			1000000000
+		hout
+			0.1
+		errorTol
+			1e-06
+	AnimationParameters
+		nframe
+			1000000
+		icurrent
+			1
+		istart
+			1
+		iend
+			1000000
+		isForward
+			true
+		framesPerSecond
+			30
diff --git a/testapp/dragCrankSlider.asmt b/testapp/dragCrankSlider.asmt
new file mode 100644
index 0000000..82f63b9
--- /dev/null
+++ b/testapp/dragCrankSlider.asmt
@@ -0,0 +1,384 @@
+freeCAD: 3D CAD with Motion Simulation  by  askoh.com
+Assembly
+	Notes
+		(Text string: 'CAD: Copyright (C) 2000-2004, Aik-Siong Koh, All Rights Reserved.<n><n>The piston crank is the most common mechanism to convert rotary motion to reciprocating motion or vice versa. A crank connects to the ground with a revolute joint. Its other end is connected to the connecting rod. And the connecting rod is connected to the piston which slides along an axis on the ground. The crank is given rotary motion causing the piston to slides back and forth is a straight line. Units are SI units. Angles are in radians.<n><n>If the instructions below are too brief, refer to the Notes in projectile.asm and circular.asm.<n><n>To load the example for a quick look:<n>Click File/Open/Assembly/ to get a dialog. Enter *.asm for a list of assemblies. Select piston.asm. <n><n>To create the assembly from scratch:<n>To create crank, connection rod and piston:<n>Create an empty assembly and populate it with two rods (Assembly1Part1, Assembly1Part2) and one cylinder (Assembly1Part3). The rods have  dimensions (1.0d, 0.2d, 0.1d) and (1.5d, 0.2d, 0.1d). The cylinder has radius (0.5d) and height (1.0d). Arrange them from bottom up away from the origin. <n><n>To mark joint attachment points:<n>On the ground, create a marker (Assembly1Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Marker2) at (3.0d, 0.0d, 0.0d). <n>On the first rod, create a marker (Assembly1Part1Marker1) at (0.1d, 0.1d, 0.0d) and another (Assembly1Part1Marker2) at (0.9d, 0.1d, 0.0d) relative to the z-face. <n>On the second rod, create a marker (Assembly1Part2Marker1) at (0.1d, 0.1d, -0.1d) and another (Assembly1Part2Marker2) at (1.4d, 0.1d, -0.1d) relative to the z-face. <n>On the cylinder, create a marker (Assembly1Part3Marker1) at (0.0d, 0.0d, 0.0d) and another (Assembly1Part3Marker2) at (0.0d, 0.0d, -1.0d) relative to the z-face. Tilt the cylinder a little to get a good view of (Assembly1Part3Marker2). RightClick/Rotate/ over it to rotate the marker (90.0d) degrees about the x-axis.<n>Tilt the cylinder upright to help the solver assemble the system later.<n><n>To create the joints:<n>Connect (Assembly1Marker1) to (Assembly1Part1Marker1) with revolute joint (Assembly1Joint1).<n>Connect (Assembly1Part1Marker2) to (Assembly1Part2Marker1) with revolute joint (Assembly1Joint2).<n>Connect (Assembly1Part2Marker2) to (Assembly1Part3Marker2) with revolute joint (Assembly1Joint3).<n>Connect (Assembly1Marker2) to (Assembly1Part3Marker1) with translational joint (Assembly1Joint3).<n>The translational joint keeps the marker z-axes parallel and colinear. Only relative translation along the z-axis is permitted.<n><n>To apply motion to the crank:<n>Apply rotation motion (Assembly1Motion1) to (Assembly1Joint1). Enter 2.0d*pi*time.<n><n>The assembly is now ready for simulation, animation and plotting.<n>' runs: (Core.RunArray runs: #(514 63 14 5 12 1 2 37 89 10 4 36 1 43 295 32 848 21 517 29 151) values: #(nil #underline #(#underline #bold) #underline #(#underline #bold) #underline nil #(#bold #large) nil #bold nil #(#bold #large) nil #bold nil #bold nil #bold nil #bold nil)))
+	Name
+		Assembly1
+	Position3D
+		0.0 	0.0 	0.0 
+	RotationMatrix
+		1.0 	0.0 	0.0 
+		0.0 	1.0 	0.0 
+		0.0 	0.0 	1.0 
+	Velocity3D
+		0.0 	0.0 	0.0 
+	Omega3D
+		0.0 	0.0 	0.0 
+	RefPoints
+		RefPoint
+			Position3D
+				0.0 	0.0 	0.0 
+			RotationMatrix
+				1.0 	0.0 	0.0 
+				0.0 	1.0 	0.0 
+				0.0 	0.0 	1.0 
+			Markers
+				Marker
+					Name
+						Marker1
+					Position3D
+						0.0 	3.0 	0.0 
+					RotationMatrix
+						1.0 	0.0 	0.0 
+						0.0 	0.0 	1.0 
+						0.0 	-1.0 	0.0 
+		RefPoint
+			Position3D
+				0.0 	0.0 	0.0 
+			RotationMatrix
+				1.0 	0.0 	0.0 
+				0.0 	1.0 	0.0 
+				0.0 	0.0 	1.0 
+			Markers
+				Marker
+					Name
+						Marker2
+					Position3D
+						0.0 	0.0 	0.0 
+					RotationMatrix
+						1.0 	0.0 	0.0 
+						0.0 	1.0 	0.0 
+						0.0 	0.0 	1.0 
+	RefCurves
+	RefSurfaces
+	Parts
+		Part
+			Name
+				Part1
+			Position3D
+				-0.1 	-0.1 	-0.1 
+			RotationMatrix
+				1.0 	0.0 	0.0 
+				0.0 	1.0 	0.0 
+				0.0 	0.0 	1.0 
+			Velocity3D
+				0.62831853071796 	-0.62831853071796 	0.0 
+			Omega3D
+				0.0 	0.0 	6.2831853071796 
+			FeatureOrder
+				Extrusion
+					zStart
+						0.0 
+					zEnd
+						0.1 
+					Sketch
+						Name
+							Sketch1
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+						RotationMatrix
+							1.0 	0.0 	0.0 
+							0.0 	1.0 	0.0 
+							0.0 	0.0 	1.0 
+						Graphics
+							Rectangle
+								Position2D
+									0.0 	0.0 
+								Angle
+									0.0 
+								xLength
+									1.0 
+								yLength
+									0.2 
+			PrincipalMassMarker
+				Name
+					MassMarker
+				Position3D
+					0.5 	0.1 	0.05 
+				RotationMatrix
+					1.0 	0.0 	0.0 
+					0.0 	1.0 	0.0 
+					0.0 	0.0 	1.0 
+				Mass
+					0.2 
+				MomentOfInertias
+					8.3333333333333e-4	0.016833333333333 	0.017333333333333 
+				Density
+					10.0 
+			RefPoints
+				RefPoint
+					Position3D
+						0.0 	0.0 	0.1 
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+						1.0 	0.0 	0.0 
+						0.0 	1.0 	0.0 
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+					Markers
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+							Name
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+								0.0 	1.0 	0.0 
+								0.0 	0.0 	1.0 
+				RefPoint
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+						1.0 	0.0 	0.0 
+						0.0 	1.0 	0.0 
+						0.0 	0.0 	1.0 
+					Markers
+						Marker
+							Name
+								Marker2
+							Position3D
+								0.9 	0.1 	0.0 
+							RotationMatrix
+								1.0 	0.0 	0.0 
+								0.0 	1.0 	0.0 
+								0.0 	0.0 	1.0 
+			RefCurves
+			RefSurfaces
+		Part
+			Name
+				Part2
+			Position3D
+				0.94036115973815 	-0.017284236661228 	-1.3877787807814e-17
+			RotationMatrix
+				-0.61538461538462 	-0.78822698199689 	-1.6603807295334e-17
+				0.78822698199689 	-0.61538461538462 	2.1267299485346e-17
+				-2.6981186854917e-17	-1.3258078974716e-33	1.0 
+			Velocity3D
+				-3.3164118402378e-34	5.0265482457437 	-3.9748307264642e-33
+			Omega3D
+				4.1774251032926e-33	3.2613995704322e-33	-3.1828000786991e-34
+			FeatureOrder
+				Extrusion
+					zStart
+						0.0 
+					zEnd
+						0.1 
+					Sketch
+						Name
+							Sketch1
+						Position3D
+							0.0 	0.0 	0.0 
+						RotationMatrix
+							1.0 	0.0 	0.0 
+							0.0 	1.0 	0.0 
+							0.0 	0.0 	1.0 
+						Graphics
+							Rectangle
+								Position2D
+									0.0 	0.0 
+								Angle
+									0.0 
+								xLength
+									1.5 
+								yLength
+									0.2 
+			PrincipalMassMarker
+				Name
+					MassMarker
+				Position3D
+					0.75 	0.1 	0.05 
+				RotationMatrix
+					1.0 	-2.7755575615629e-16	0.0 
+					2.7755575615629e-16	1.0 	0.0 
+					0.0 	0.0 	1.0 
+				Mass
+					0.3 
+				MomentOfInertias
+					0.00125 	0.0565 	0.05725 
+				Density
+					10.0 
+			RefPoints
+				RefPoint
+					Position3D
+						0.0 	0.0 	0.1 
+					RotationMatrix
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+						0.0 	1.0 	0.0 
+						0.0 	0.0 	1.0 
+					Markers
+						Marker
+							Name
+								Marker1
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+							RotationMatrix
+								1.0 	3.5771870615405e-50	3.0814879110196e-33
+								3.5771870615405e-50	1.0 	1.755680013548e-33
+								3.0814879110196e-33	1.755680013548e-33	1.0 
+				RefPoint
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+						-7.0256300777061e-17	-1.0408340855861e-17	0.1 
+					RotationMatrix
+						1.0 	1.7347234759768e-18	-6.9388939039072e-18
+						1.7347234759768e-18	1.0 	0.0 
+						-6.9388939039072e-18	0.0 	1.0 
+					Markers
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+							Name
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+							Position3D
+								1.4 	0.1 	-0.1 
+							RotationMatrix
+								1.0 	-5.5511151231258e-17	2.1510571102112e-16
+								3.4181598826109e-49	1.0 	4.1633363423443e-17
+								-2.2898349882894e-16	-4.1633363423443e-17	1.0 
+			RefCurves
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+			Name
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+				6.5961808710108e-18	1.024695076596 	-4.5972683339025e-17
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+				1.0 	1.8606318149699e-16	-9.2444637330587e-33
+				9.2444637330587e-33	5.137628796844e-17	1.0 
+				1.8606318149699e-16	-1.0 	5.137628796844e-17
+			Velocity3D
+				-1.6491143091194e-30	5.0265482457437 	-7.1214100282068e-33
+			Omega3D
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+			FeatureOrder
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+							1.0 	0.0 	0.0 
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+						Graphics
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+								Angle
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+								Radius
+									0.5 
+			PrincipalMassMarker
+				Name
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+				RotationMatrix
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+					9.9703461330478e-65	1.0785207688569e-32	1.0 
+					1.0 	-9.2444637330587e-33	0.0 
+				Mass
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+								0.0 	-2.2204460492503e-16	1.0 
+								-9.5592355929136e-33	-1.0 	-2.2204460492503e-16
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+						-6.9388939039072e-18	1.0 	0.0 
+						6.9388939039072e-18	0.0 	1.0 
+					Markers
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+								1.3877787807814e-17	0.0 	1.0 
+			RefCurves
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+	ConstraintSets
+		Joints
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+				Name
+					Joint1
+				MarkerI
+					/Assembly1/Marker2
+				MarkerJ
+					/Assembly1/Part1/Marker1
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+				Name
+					Joint2
+				MarkerI
+					/Assembly1/Part1/Marker2
+				MarkerJ
+					/Assembly1/Part2/Marker1
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+				Name
+					Joint3
+				MarkerI
+					/Assembly1/Part2/Marker2
+				MarkerJ
+					/Assembly1/Part3/Marker1
+			CylindricalJoint
+				Name
+					Joint4
+				MarkerI
+					/Assembly1/Part3/Marker2
+				MarkerJ
+					/Assembly1/Marker1
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+	SimulationParameters
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+			0.0 
+		tend
+			0.0 
+		hmin
+			1.0e-9
+		hmax
+			1.0 
+		hout
+			0.04 
+		errorTol
+			1.0e-6
+	AnimationParameters
+		nframe
+			26
+		icurrent
+			1
+		istart
+			1
+		iend
+			26
+		isForward
+			true
+		framesPerSecond
+			30