.ModelicaAdditions.MultiBody.CutJoints.Spherical

Information

A spherical joint is a joint with 3 rotational degrees of freedom.
An instance of this class is used as cut joint to break a kinematic
loop of a multibody system.

The 3 constraint equations on position level state, that the
distance between the origins of frame_a and frame_b is zero.
As constraint forces fc (= Lagrange multipliers) of the joint
 fc = fa  is used, i.e., the cut-forces at frame_a.