I'm slowly grinding through the tutorials in the getting started guide and would like to try and build on the chain link pendulum example. Firstly I tried to fix the end of the pendulum, so that the chain would drape. Screenshot of my model below. Then my second goal is to create a horizontal roller support, so that the rotational springs could hold it in position through their rotational stiffness. I'd genuinely appreciate any guidance on how to create a horizontal roller, or create multiple support points. *The spirals are revolute joints, with springs and dampeners attached. If I remove the fixed translation component, the model functions quite happily as a chain pendulum. All help gratefully received.

Brilliant, thank you very much. It was the addition of the special revolute joint at the end to prevent it being a planar loop that was eluding me.

I see. You can modify my above model slightly: This will generate a simulation that looks like this: You can add forces with the `Modelica.Mechanics.MultiBody.Forces` library.

Diagram below of what I would like to achieve as a system, once stable I would like to place forces and/or accelerations to the red nodes. I hope this makes sense...

Creating Supports in SystemModeler ....