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CNRB approach: create a CNRB ( constrained nodal rigid bodies) connection between two solid parts and then resolve the components via (Boundary_ prescribe _ motion_rigid infer the PID of this CNRB )such that rotation is free and the rest of the components are 0
Joint approach: you can model the revolute joint as given in the link
Also, on a simple approach, you can use the SPC with a Rotational component to 0
Happy Simulation,
Ram.
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