# Posts tagged algebraic

## Parmec ball joint and articulated pendulum example

PARMEC includes its first algebraic joint – a ball joint – which is realised by nullifying relative velocity of a coincident point between two particles. BALL_JOINT command is used to define a pair of particles and the point. Since joints are realised as algebraic constraints they do not influence the stable time step. Instead a linear system is solved at every time step. Any number of joints can be added to the system, although linear dependence should be avoided (QR solver can be used in such case, see the Config.mak file). The articulated pendulum example demonstrates performance of the ball joint, also in conjunction with the torsional spring. The example is summarised below. (…)