Hi, this is Vedat from Wolfram MathCore. Navigating multibody dynamics and orientations is indeed a complex task, one that we often encounter in our field. Your equations hint at the employment of a state matrix, $dynState.set1.s[x,y], which is typical in these numerical simulations.

Given the complexities involved, starting with simpler models can sometimes be quite beneficial. If feasible for your situation, you might consider working with Planar Mechanics initially. This approach can provide a solid understanding of the principles of dynamics without the added intricacies of 3D orientations.

For a comprehensive Multibody Library understanding, consider Martin Otter's "Modelica - The New Modelica MultiBody Library" and the practical examples in MSL Multibody Library as invaluable tools in your learning journey.

Thanks,