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How can I Prescribe Rotational Motion to a Rigid Body?

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I would like to prescribe a rotational motion to a rigid body such that during a simulation a rigid plate will rotate about a particular axis. I know how to prescribe translational motion to rigid bodies (i.e. define a motion curve and then assign this curve to a rigid body and make the appropriate degree of freedom adjustments in the x, y, or z directions.)

I have been unsuccessful in prescribing a rotational motion to a rigid body.

I have included a link to a picture of a simple model for clarification.

I would like to have the rigid plate on the right of the blue box rotate about the x-axis some angle per second and then interact with the blue box using contact algorithms.

Any information on how this might be accomplished would be greatly appreciated.

Brad

http://imageshack.us/photo/my-images/710/rotation.jpg/

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