.ModelicaAdditions.MultiBody.Parts.Body2

Information

Rigid body with two frames. All the mass and inertia properties must be
supplied with respect to the center of mass. All parameter vectors
have to be resolved in frame_a in [m].

Parameters:
  r[3]  : Position vector from the origin of frame_a to the origin of
          frame_b.
  rCM[3]: Position vector from the origin of frame_a to the center of
          mass.
  m     : Mass of body in [kg].
  Ixy   : Elements (x,y) of the inertia tensor of the body with respect to
          the center of mass, resolved frame_a in [kgm^2].
          The following elements can be defined:
          I11, I22, I33, I21, I31, I32.
          (Move the inertial from into the center of mass by translation
          and resolve the inertia tensor in this frame).