Simscape™ Multibody™ models are similar in composition to the systems they represent. A typical model comprises a multitude of bodies, joints and constraints, forces and torques, and sensors. Start your model by creating the subsystems to represent the bodies. Then, connect the subsystems with joints and constraints to define their kinematic relationships. Add forces and torques—or, equivalently, motion inputs—to drive the model and sensors to measure its dynamic response.