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Crane dynamics

I tried to simulate the dynamics of a crane. 
See my assembly in the following link: 

The crane has following parts: 1) Base ; 2) Vertical tower; 3) Boom; 4) Hyd. cylinder; 5) Hyd. piston. 

The crane dynamic should be: a) Vertical tower can rotate around the axis Z; b) the boom can rotate around axis Y; c) Hyd. piston push the boom until the boom reach the vertical position and go back.

The problem is: How to simulate the whole crane dynamics, in particular the case c) above ?  


Best Answers


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