Forces

idx = body.AddAccumulator()                               # once before loop
body.EmptyAccumulator(idx)                                # every step
body.AccumulateTorque(idx, torque_vec, local)             # torque
body.AccumulateForce(idx, force_vec, appl_point, local)   # force

idx is always the first argument. Never hardcode 0; store the return value from AddAccumulator().

Rule 2: Each body needs its own accumulator index

idx_a = body_a.AddAccumulator()
idx_b = body_b.AddAccumulator()

body_a.EmptyAccumulator(idx_a)
body_b.EmptyAccumulator(idx_b)
body_a.AccumulateTorque(idx_a, torque_a, False)
body_b.AccumulateTorque(idx_b, torque_b, False)

Part 1: Axis Consistency

Rule 3: Do not hardcode .z or (0, 0, T) unless the physical axis is actually Z

Before reading angular rate or building a torque vector, identify the physical rotation axis:

• revolute hinge axis
• motor axis
• guide axis normal/tangent implied by the mechanism
• body-local axis if local=True

Then keep all of these aligned to the same axis:

• measured angular velocity component
• relative angular velocity used in damping/control
• torque vector direction

Rule 4: World-frame loads use axis_hat directly

When local=False, express the load in world coordinates:

axis_hat = chrono.ChVector3d(ax, ay, az)   # normalized physical axis
torque_mag = gain * rel_rate
torque_vec = chrono.ChVector3d(
    torque_mag * axis_hat.x,
    torque_mag * axis_hat.y,
    torque_mag * axis_hat.z,
)
body.AccumulateTorque(idx, torque_vec, False)

For translational loads along a guide axis:

guide_hat = chrono.ChVector3d(gx, gy, gz)  # normalized guide axis
force_mag = -damping * relative_speed
force_vec = chrono.ChVector3d(
    force_mag * guide_hat.x,
    force_mag * guide_hat.y,
    force_mag * guide_hat.z,
)
body.AccumulateForce(idx, force_vec, application_point_world, False)

Rule 5: Local-frame loads must be expressed in body-local axes

When local=True, the vector is interpreted in body-local coordinates. That means the chosen axis must already be represented in the body's local basis.

# Example: torque about body-local Y
torque_local = chrono.ChVector3d(0, torque_mag, 0)
body.AccumulateTorque(idx, torque_local, True)

Do not mix a world-axis interpretation with local=True.

Rule 6: Read state on the same physical axis you actuate

If damping is about a hinge axis, compute the relative rate on that same hinge axis. Examples:

# Common planar case: hinge about Z
euler_a = body_a.GetRot().GetCardanAnglesXYZ()
euler_b = body_b.GetRot().GetCardanAnglesXYZ()
rel_rate = body_a.GetAngVelParent().z - body_b.GetAngVelParent().z

# Generic case: hinge about axis_hat in world frame
w_a = body_a.GetAngVelParent()
w_b = body_b.GetAngVelParent()
rel_rate = (
    (w_a.x - w_b.x) * axis_hat.x +
    (w_a.y - w_b.y) * axis_hat.y +
    (w_a.z - w_b.z) * axis_hat.z
)

The axis comes from the mechanism. Do not default to .z just because many demos are planar.

Part 2: Internal Loads Must Balance

Rule 7: Internal damping/friction/coupling loads act in equal-and-opposite pairs

If a load models the interaction between two bodies, apply both reactions:

torque_mag = damping * rel_rate
torque_vec = chrono.ChVector3d(
    torque_mag * axis_hat.x,
    torque_mag * axis_hat.y,
    torque_mag * axis_hat.z,
)

body_a.AccumulateTorque(idx_a, torque_vec, False)
body_b.AccumulateTorque(
    idx_b,
    chrono.ChVector3d(-torque_vec.x, -torque_vec.y, -torque_vec.z),
    False,
)

This includes:

• rotational damping between two links
• coupling torques between connected bodies
• internal force pairs when no Chrono link is carrying that reaction for you

If the load is truly external, such as gravity compensation or a user-applied actuator on one body, a single-body application may be correct. Decide from the physics, not the code pattern.

Rule 8: Sliding loads must align with the actual guide axis

For slider friction, spring, or control force, apply the load along the guide axis, not along a guessed global axis. X is only a common example.

guide_hat = chrono.ChVector3d(gx, gy, gz)
force_mag = -(friction_mag + spring_mag)
force_vec = chrono.ChVector3d(
    force_mag * guide_hat.x,
    force_mag * guide_hat.y,
    force_mag * guide_hat.z,
)
slider.AccumulateForce(idx_slider, force_vec, slider.GetPos(), False)

Part 3: Common Errors

Exact signatures

# WRONG
body.AccumulateTorque(torque_vec, False, idx)
body.AccumulateForce(force_vec, point, False, idx)

# CORRECT
body.AccumulateTorque(idx, torque_vec, False)
body.AccumulateForce(idx, force_vec, point, False)

Frame mismatch

# WRONG: world-axis vector passed as local load
body.AccumulateTorque(idx, chrono.ChVector3d(0, 0, torque_mag), True)

# WRONG: assumes Z-axis without checking the hinge axis
rel_rate = body_a.GetAngVelParent().z - body_b.GetAngVelParent().z
torque_vec = chrono.ChVector3d(0, 0, torque_mag)

# BETTER: derive both from the same axis_hat

Skill: MBS Motors

Purpose

Impose prescribed motion or force between two bodies using ChLinkMotor* classes.

Pattern

motor = chrono.ChLinkMotorRotationTorque()
motor.Initialize(body_slave, body_master, chrono.ChFramed(pos_abs))
motor.SetTorqueFunction(some_ChFunction)
sys.Add(motor)

For linear motors, remember the same frame rule as prismatic joints: the motor frame's local +Z must align with the intended translation axis.

Motion functions

chrono.ChFunctionConst(value)
chrono.ChFunctionSine(amplitude, frequency)
chrono.ChFunctionSine(amplitude, frequency, phase)

Warning

Rheonomic motors such as ChLinkMotorRotationSpeed and ChLinkMotorRotationAngle enforce motion geometrically. Prefer torque/force motors when the system must respond dynamically to load.