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