diff --git a/OndselSolver/MBDynCaseJose.mbd b/OndselSolver/MBDynCaseJose.mbd
new file mode 100644
index 0000000..35c1d1f
--- /dev/null
+++ b/OndselSolver/MBDynCaseJose.mbd
@@ -0,0 +1,297 @@
+#-----------------------------------------------------------------------------
+ # [Data Block]
+
+ begin: data;
+     problem: initial value;
+ end: data;
+
+ #-----------------------------------------------------------------------------
+ # [Problem Block]
+
+ begin: initial value;
+     initial time: 0.0;
+     final time: 8.0;
+     time step: 0.01;
+     max iterations: 100;
+     tolerance: 1e-06;
+     derivatives tolerance: 0.0001;
+     derivatives max iterations: 100;
+     derivatives coefficient: auto;
+ end: initial value;
+
+ #-----------------------------------------------------------------------------
+ # [Control Data Block]
+
+ begin: control data;
+     max iterations: 1000;
+     default orientation: euler321;
+     omega rotates: no;
+     print: none;
+     initial stiffness: 1.0, 1.0;
+     structural nodes: 4;
+     rigid bodies: 3;
+     joints: 6;
+ end: control data;
+
+ #-----------------------------------------------------------------------------
+ # [Design Variables]
+
+     #Generic bodies
+
+         #body: 2
+             set: integer body_2 = 2; #body label
+             set: real mass_2 = 1.4486361883511718; #mass [kg]
+             set: real volume_2 = 0.00018337166941154073; #volume [m^3]
+
+         #body: 3
+             set: integer body_3 = 3; #body label
+             set: real mass_3 = 2.852948655706769; #mass [kg]
+             set: real volume_3 = 0.00036113274122870494; #volume [m^3]
+
+         #body: 4
+             set: integer body_4 = 4; #body label
+             set: real mass_4 = 10.859427202622149; #mass [kg]
+             set: real volume_4 = 0.001374611038306601; #volume [m^3]
+
+     #Nodes
+
+         #node: 1
+             set: integer structural_node_1 = 1; #node label
+
+         #node: 2
+             set: integer structural_node_2 = 2; #node label
+
+         #node: 3
+             set: integer structural_node_3 = 3; #node label
+
+         #node: 4
+             set: integer structural_node_4 = 4; #node label
+
+     #Joints
+
+         #joint: 1
+             set: integer joint_1 = 1; #joint label
+
+         #joint: 2
+             set: integer joint_2 = 2; #joint label
+
+         #joint: 3
+             set: integer joint_3 = 3; #joint label
+
+         #joint: 4
+             set: integer joint_4 = 4; #joint label
+
+         #joint: 5
+             set: integer joint_5 = 5; #joint label
+
+         #joint: 6
+             set: integer joint_6 = 6; #joint label
+
+     #Nodes: initial conditions
+
+         #node: 1
+             set: real Px_1 = -0.121; #X component of the absolute position [m]
+             set: real Py_1 = -1.218180697837851e-18; #Y component of the absolute position [m]
+             set: real Pz_1 = -0.08; #Z component of the absolute position [m]
+
+             set: real Vx_1 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_1 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_1 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_1 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_1 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_1 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 2
+             set: real Px_2 = -0.04942161873703145; #X component of the absolute position [m]
+             set: real Py_2 = 0.10494947176309491; #Y component of the absolute position [m]
+             set: real Pz_2 = -0.03019496284287986; #Z component of the absolute position [m]
+
+             set: real Vx_2 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_2 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_2 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_2 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_2 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_2 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 3
+             set: real Px_3 = 0.0745132790133479; #X component of the absolute position [m]
+             set: real Py_3 = -0.07931074487337057; #Y component of the absolute position [m]
+             set: real Pz_3 = 0.047693362858105263; #Z component of the absolute position [m]
+
+             set: real Vx_3 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_3 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_3 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_3 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_3 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_3 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+         #node: 4
+             set: real Px_4 = 0.3575148357029521; #X component of the absolute position [m]
+             set: real Py_4 = 0.043331500350960436; #Y component of the absolute position [m]
+             set: real Pz_4 = 0.10422397969746418; #Z component of the absolute position [m]
+
+             set: real Vx_4 = 0.0; #X component of the absolute velocity [m/s]
+             set: real Vy_4 = 0.0; #Y component of the absolute velocity [m/s]
+             set: real Vz_4 = 0.0; #Z component of the absolute velocity [m/s]
+
+             set: real Wx_4 = 0.0; #X component of the absolute angular velocity [rad/s]
+             set: real Wy_4 = 0.0; #Y component of the absolute angular velocity [rad/s]
+             set: real Wz_4 = 0.0; #Z component of the absolute angular velocity [rad/s]
+
+ #-----------------------------------------------------------------------------
+ # [Intermediate Variables]
+
+     #Moments of inertia and relative center of mass
+
+         #body 2: 
+             set: real Ixx_2 = 0.0028717510150880004; #moment of inertia [kg*m^2]
+             set: real Iyy_2 = 0.002864447840812; #moment of inertia [kg*m^2]
+             set: real Izz_2 = 0.0007089594589930001; #moment of inertia [kg*m^2]
+
+             set: real Rx_2 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_2 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_2 = 0.0; #Z component of the relative center of mass [m]
+
+         #body 3: 
+             set: real Ixx_3 = 0.033837921987970004; #moment of inertia [kg*m^2]
+             set: real Iyy_3 = 0.033715148099504; #moment of inertia [kg*m^2]
+             set: real Izz_3 = 0.001956310318013; #moment of inertia [kg*m^2]
+
+             set: real Rx_3 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_3 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_3 = 0.0; #Z component of the relative center of mass [m]
+
+         #body 4: 
+             set: real Ixx_4 = 0.07706742098794901; #moment of inertia [kg*m^2]
+             set: real Iyy_4 = 0.066351815798527; #moment of inertia [kg*m^2]
+             set: real Izz_4 = 0.061792350456255; #moment of inertia [kg*m^2]
+
+             set: real Rx_4 = 0.0; #X component of the relative center of mass [m]
+             set: real Ry_4 = 0.0; #Y component of the relative center of mass [m]
+             set: real Rz_4 = 0.0; #Z component of the relative center of mass [m]
+
+ #-----------------------------------------------------------------------------
+ # [Nodes Block]
+
+ begin: nodes;
+
+     structural: structural_node_1,
+                 static,
+                 Px_1, Py_1, Pz_1, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_1, Vy_1, Vz_1, #<absolute_velocity> [m/s]
+                 Wx_1, Wy_1, Wz_1; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_2,
+                 dynamic,
+                 Px_2, Py_2, Pz_2, #<absolute_position> [m]
+                 3, 0.24321034680169393, 0.08852132690137694, 0.9659258262890683, 2, -0.3420201433256683, 0.9396926207859085, -1.8041124150158794e-16, #<absolute_orientation_matrix>
+                 Vx_2, Vy_2, Vz_2, #<absolute_velocity> [m/s]
+                 Wx_2, Wy_2, Wz_2; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_3,
+                 dynamic,
+                 Px_3, Py_3, Pz_3, #<absolute_position> [m]
+                 3, -0.17364817766693005, -3.122502256758253e-16, 0.9848077530122081, 2, 0.17101007166283402, 0.9848077530122081, 0.030153689607046008, #<absolute_orientation_matrix>
+                 Vx_3, Vy_3, Vz_3, #<absolute_velocity> [m/s]
+                 Wx_3, Wy_3, Wz_3; #<absolute_angular_velocity> [rad/s]
+
+     structural: structural_node_4,
+                 dynamic,
+                 Px_4, Py_4, Pz_4, #<absolute_position> [m]
+                 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<absolute_orientation_matrix>
+                 Vx_4, Vy_4, Vz_4, #<absolute_velocity> [m/s]
+                 Wx_4, Wy_4, Wz_4; #<absolute_angular_velocity> [rad/s]
+
+ end: nodes;
+
+ #-----------------------------------------------------------------------------
+ # [Elements Block]
+
+ begin: elements;
+
+     #-----------------------------------------------------------------------------
+     # [Bodies]
+
+         body: body_2,
+               structural_node_2, #<node_label> 
+               mass_2, #<mass> [kg]
+               Rx_2, Ry_2, Rz_2, #<relative_center_of_mass> [m]
+               diag, Ixx_2, Iyy_2, Izz_2, #<inertia_matrix> [kg*m^2]
+               orientation, 3, -6.071532165918825e-17, -2.775557561562891e-17, 1.0, 2, 1.1102230246251565e-16, 1.0, 2.775557561562892e-17; 
+
+         body: body_3,
+               structural_node_3, #<node_label> 
+               mass_3, #<mass> [kg]
+               Rx_3, Ry_3, Rz_3, #<relative_center_of_mass> [m]
+               diag, Ixx_3, Iyy_3, Izz_3, #<inertia_matrix> [kg*m^2]
+               orientation, 3, -4.119968255444917e-18, -1.734723475976807e-18, 1.0, 2, -3.573502826499754e-36, 1.0, 1.734723475976807e-18; 
+
+         body: body_4,
+               structural_node_4, #<node_label> 
+               mass_4, #<mass> [kg]
+               Rx_4, Ry_4, Rz_4, #<relative_center_of_mass> [m]
+               diag, Ixx_4, Iyy_4, Izz_4, #<inertia_matrix> [kg*m^2]
+               orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; 
+
+     #-----------------------------------------------------------------------------
+     # [Joints]
+
+     joint: joint_1,
+         clamp,
+         structural_node_1, #<node_label>
+             -0.121, -1.218180697837851e-18, -0.08, #<absolute_pin_position> [m]
+             3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0; #<absolute_orientation_matrix> 
+
+     joint: joint_2,
+         axial rotation,
+         1,#<node_1>
+             0.0, 1.218180697837851e-18, 0.05, #<relative_offset_1> [m]
+             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #<relative_orientation_matrix_1>
+         2, #<node_2>
+             -0.03739853284269052, 0.0, 0.0032867622552210526, #<relative_offset_2> [m]
+             orientation, 3, -6.678685382510707e-17, -2.0816681711721682e-17, 1.0, 2, guess, #<relative_orientation_matrix_2>
+         string, "model::drive(1, Time)"; #<angular_velocity> [rad/s]
+
+     joint: joint_3,
+            revolute hinge,
+             structural_node_2, #<node_1_label>
+                 0.03260146715730951, 0.0, 0.05328676225522103, #<relative_position_1> [m]
+                 orientation, 3, -6.678685382510707e-17, -2.0816681711721682e-17, 1.0, 2, 1.1102230246251565e-16, 1.0, 2.0816681711721688e-17, #<relative_pin_orientation_matrix_1>
+             structural_node_3, #<node_2_label>
+                -0.14000000000000795, -1.0302869668521452e-15, 0.024999999999998076, #<relative_position_2> [m]
+                orientation, 3, -4.119968255444917e-18, -0.0, 1.0, 2, guess; #<relative_pin_orientation_matrix_2>
+
+     joint: joint_4,
+         in line,
+         structural_node_3, #<node_1_label>
+             0.13999999999999274, -9.25814980234918e-16, 4.0323300254385686e-15, #<relative_line_position> [m]
+             3, -5.818367705906288e-15, -7.134403807651544e-16, 1.0, 2, 0.9848077530122082, 0.1736481776669303, 5.853861248646238e-15, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, -0.045580834634119466, -2.0299355441011357e-10, 1.2562251569647742e-08; #<relative_offset> [m]
+
+     joint: joint_5,
+         prismatic,
+         structural_node_1, #<node_1_label>
+             orientation, 3, 0.0, 0.0, 1.0, 2, 0.0, 1.0, 0.0, #relative_orientation_matrix_1>
+         structural_node_4, #<node_2_label>
+             orientation, 3, 0, 0, 1, 2, 0, 1, 0; #relative_orientation_matrix_2>
+
+     joint: joint_6,
+         in line,
+         structural_node_1, #<node_1_label>
+             0.0, 1.218180697837851e-18, 0.071, #<relative_line_position> [m]
+             3, 1.0, 0.0, 2.220446049250313e-16, 2, 0.0, 1.0, 0.0, #<relative_orientation>
+         structural_node_4, #<node_2_label>
+             offset, 0.0, 0.0, 0.0; #<relative_offset> [m]
+
+     #-----------------------------------------------------------------------------
+     # [Drive callers]
+
+     drive caller: 1, name,"drive:1", cosine, 0.25, 3.1416, 10.0, half, 0.0;
+
+ end: elements;
+
diff --git a/OndselSolver/MBDynCaseJose.mov b/OndselSolver/MBDynCaseJose.mov
new file mode 100644
index 0000000..2d4c5c2
--- /dev/null
+++ b/OndselSolver/MBDynCaseJose.mov
@@ -0,0 +1,3208 @@
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 2.960507e-07 -3.484659e-06 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       3 8.379671e-02 1.253228e-02 -4.999973e-03 -5.135771e+00 -6.622159e-06 -1.595611e-05 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       4 2.688155e-01 0.000000e+00 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826606e-15 -1.611280e-15 -2.882504e-07 6.185130e-07 5.544821e-10 1.172729e-05 3.390517e-06 3.597122e-23
+       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.074673e-13 -4.705820e-14 3.912136e-06 -2.951076e-06 -5.333686e-06 5.754297e-05 1.803708e-05 -4.485217e-06
+       4 2.688155e-01 0.000000e+00 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -4.204971e-06 0.000000e+00 -9.336911e-22 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826570e-15 -1.611409e-15 7.206259e-08 -1.546282e-07 -1.386274e-10 -2.931822e-06 -8.476292e-07 -6.456416e-18
+       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 9.540698e-13 -4.135796e-13 -9.780337e-07 7.377620e-07 1.333420e-06 -1.438574e-05 -4.509269e-06 1.121275e-06
+       4 2.688155e-01 1.553062e-24 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 1.051239e-06 2.329593e-22 -5.368727e-21 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826607e-15 -1.611480e-15 -4.353702e-15 3.917074e-15 -4.178403e-15 -1.151965e-19 9.486769e-20 3.652060e-19
+       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.694850e-12 -7.342887e-13 2.097191e-13 -3.723773e-12 -5.614510e-13 -4.102057e-13 1.242255e-12 -1.569694e-11
+       4 2.688155e-01 -5.176874e-25 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -2.255647e-12 -3.882656e-22 -4.481720e-20 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826588e-15 -1.611317e-15 4.972159e-15 -1.348942e-14 1.464022e-14 4.895850e-19 9.994989e-20 3.390516e-18
+       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 2.955958e-13 -1.285035e-13 -7.739849e-13 1.336589e-11 2.016371e-12 1.472540e-12 -4.459422e-12 5.634516e-11
+       4 2.688155e-01 4.437321e-24 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 8.098069e-12 8.467887e-22 -3.865484e-19 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826555e-15 -1.611226e-15 -3.360647e-15 1.575643e-15 -1.504539e-15 1.126754e-19 -3.448704e-20 -7.048013e-18
+       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.641377e-15 -1.243369e-15 8.089436e-14 -1.399676e-12 -2.115149e-13 -1.542789e-13 4.671943e-13 -5.891975e-12
+       4 2.688155e-01 -3.097907e-24 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -8.698999e-13 -1.378035e-21 -3.316473e-18 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.081668e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -8.608111e-02 1.339109e-02 -3.328676e-02 2.098139e+01 3.826596e-15 -1.611282e-15 7.367794e-16 5.629873e-16 -1.264452e-15 -2.596778e-19 4.733635e-20 -1.685019e-20
+       3 8.379673e-02 1.253226e-02 -5.000000e-03 -5.135772e+00 1.641390e-15 -1.243440e-15 5.117439e-14 -7.961533e-13 -1.197490e-13 -8.764677e-14 2.654351e-13 -3.360131e-12
+       4 2.688155e-01 1.616061e-25 -9.000000e-03 0.000000e+00 -0.000000e+00 0.000000e+00 -4.690886e-13 8.656884e-22 -2.846453e-17 0.000000e+00 0.000000e+00 0.000000e+00
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.706169e-14 0.000000e+00 0.000000e+00 0.000000e+00
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+       4 2.127683e-01 -2.335908e-28 -9.000000e-03 -5.395359e-22 7.177999e-31 1.328091e-28 1.472352e+00 -7.374652e-26 1.917659e-15 3.449256e-28 -3.897216e-27 1.800586e-19
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+       3 4.520075e-02 -3.166334e-02 -5.000000e-03 1.307150e+01 1.017881e-15 1.554332e-15 1.364572e+00 3.027442e-01 1.430311e-16 -4.387505e-16 5.650371e-16 -2.223357e+00
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+       4 2.699984e-01 -1.827568e-27 -9.000000e-03 1.990297e-26 -1.436969e-32 -5.512472e-30 5.741653e-01 -2.677587e-25 8.270166e-17 3.333049e-29 1.690762e-31 1.167699e-19
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+       3 8.599001e-02 9.593477e-03 -5.000000e-03 -3.929263e+00 1.759297e-15 -1.082795e-15 -4.360360e-01 6.865552e-01 1.825720e-16 -6.801334e-16 -4.089672e-16 -4.908868e+00
+       4 2.712418e-01 -9.045149e-27 -9.000000e-03 -1.067015e-19 7.534771e-32 2.484338e-29 -4.836756e-01 -1.006614e-24 -8.110573e-16 2.016931e-28 7.496167e-31 -3.736238e-19
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+       3 8.019552e-02 1.612599e-02 -5.000000e-03 -6.614333e+00 1.468503e-15 -1.426185e-15 -7.301808e-01 6.339030e-01 -4.809063e-16 -5.793660e-16 -5.352162e-16 -4.553321e+00
+       4 2.648445e-01 2.493645e-27 -9.000000e-03 -3.575472e-20 -5.752172e-32 5.018030e-44 -8.054177e-01 2.013992e-24 6.179218e-16 -1.287255e-28 -5.516938e-31 3.059851e-19
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+       2 -9.192017e-02 2.351624e-02 -3.328676e-02 3.896173e+01 3.826593e-15 -1.611351e-15 -4.782062e-01 5.937620e-01 -1.466455e-15 -1.756198e-16 1.208948e-16 2.000000e+01
+       3 7.168898e-02 2.200804e-02 -5.000000e-03 -9.044427e+00 1.109340e-15 -1.684146e-15 -9.862574e-01 5.556814e-01 3.116334e-16 -4.552651e-16 -6.308048e-16 -4.017056e+00
+       4 2.555292e-01 4.210006e-27 -9.000000e-03 -1.275720e-19 3.747297e-32 4.397319e-30 -1.077441e+00 -3.194856e-25 -8.643822e-16 3.319210e-29 3.646460e-31 -3.022899e-19
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.369525e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -9.720577e-02 2.885282e-02 -3.328676e-02 5.048841e+01 3.826566e-15 -1.611274e-15 -5.872097e-01 4.862296e-01 -6.931748e-16 -1.954882e-16 8.361015e-17 2.000000e+01
+       3 6.090769e-02 2.700236e-02 -5.000000e-03 -1.112055e+01 7.095898e-16 -1.844661e-15 -1.191865e+00 4.550455e-01 3.997800e-16 -3.129131e-16 -6.912422e-16 -3.313494e+00
+       4 2.438598e-01 5.544171e-27 -9.000000e-03 -9.804773e-20 -1.299618e-32 5.145511e-29 -1.284632e+00 1.143067e-25 1.544379e-15 1.193596e-28 -2.150264e-31 1.574201e-19
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.100785e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -1.034512e-01 3.302557e-02 -3.328676e-02 6.201510e+01 3.826591e-15 -1.611303e-15 -6.725272e-01 3.590844e-01 3.139804e-16 -2.086462e-16 4.252905e-17 2.000000e+01
+       3 4.839241e-02 3.090750e-02 -5.000000e-03 -1.275414e+01 2.972443e-16 -1.906414e-15 -1.338228e+00 3.360547e-01 6.134818e-17 -1.663569e-16 -7.150435e-16 -2.464349e+00
+       4 2.305189e-01 6.322051e-27 -9.000000e-03 2.132058e-19 2.533577e-31 -3.182905e-30 -1.417665e+00 4.997384e-26 -4.893063e-16 -1.841077e-28 7.413556e-31 7.890950e-19
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+       2 -1.104044e-01 3.586619e-02 -3.328676e-02 7.354179e+01 3.826717e-15 -1.611418e-15 -7.307173e-01 2.174549e-01 -9.689199e-16 -2.132361e-16 1.015897e-19 2.000000e+01
+       3 3.474874e-02 3.356593e-02 -5.000000e-03 -1.387218e+01 -1.024026e-16 -1.875924e-15 -1.420787e+00 2.035086e-01 -4.604822e-16 -2.282359e-17 -7.034113e-16 -1.501245e+00
+       4 2.162462e-01 -1.982540e-27 -9.000000e-03 2.538307e-21 -5.210127e-44 7.352448e-29 -1.473868e+00 -1.284583e-24 -2.375041e-15 2.485001e-28 -8.957267e-31 -8.231461e-19
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -1.671746e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -1.177850e-01 3.726009e-02 -3.328676e-02 8.506848e+01 3.826625e-15 -1.611287e-15 -7.594328e-01 6.705412e-02 -1.349106e-15 -2.081336e-16 -4.206731e-17 2.000000e+01
+       3 2.060536e-02 3.487044e-02 -5.000000e-03 -1.442275e+01 -4.687245e-16 -1.765414e-15 -1.439323e+00 6.275365e-02 3.935692e-16 1.100472e-16 -6.593874e-16 -4.656867e-01
+       4 2.017740e-01 1.777102e-29 -9.000000e-03 2.118955e-19 -1.181287e-32 1.214134e-29 -1.457192e+00 7.152761e-25 2.401866e-16 -2.276405e-28 1.901703e-31 7.319380e-19
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.131765e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -1.252953e-01 3.715105e-02 -3.328676e-02 9.659517e+01 3.826600e-15 -1.611269e-15 -7.575154e-01 -8.605142e-02 -7.499486e-16 -1.959003e-16 -8.329731e-17 2.000000e+01
+       3 6.574274e-03 3.476839e-02 -5.000000e-03 -1.437964e+01 -7.884676e-16 -1.591510e-15 -1.397494e+00 -8.053256e-02 4.696829e-16 2.220569e-16 -5.917052e-16 5.933575e-01
+       4 1.877691e-01 1.209724e-27 -9.000000e-03 -2.551079e-20 -2.791311e-32 -1.187938e-29 -1.377122e+00 7.877738e-26 -9.313006e-17 -9.319176e-30 -3.184164e-32 -8.042269e-19
+       1 -1.210000e-01 -1.218181e-18 -8.000000e-02 0.000000e+00 -0.000000e+00 0.000000e+00 0.000000e+00 0.000000e+00 -2.514502e-15 0.000000e+00 0.000000e+00 0.000000e+00
+       2 -1.326324e-01 3.554346e-02 -3.328676e-02 1.081219e+02 3.826613e-15 -1.611299e-15 -7.250425e-01 -2.356859e-01 -1.302859e-15 -1.754274e-16 -1.206784e-16 2.000000e+01
+       3 -6.781872e-03 3.326390e-02 -5.000000e-03 -1.374489e+01 -1.054114e-15 -1.370823e-15 -1.301868e+00 -2.205704e-01 -1.970296e-16 3.127105e-16 -5.063081e-16 1.624101e+00
+       4 1.747898e-01 2.028907e-28 -9.000000e-03 1.068134e-25 1.560294e-44 -1.219782e-30 -1.246651e+00 -2.106226e-25 1.677234e-15 4.886878e-29 8.712644e-32 2.739635e-19
diff --git a/OndselSolver/OndselSolver.cpp b/OndselSolver/OndselSolver.cpp
index 9b88d4f..fc8cd62 100644
--- a/OndselSolver/OndselSolver.cpp
+++ b/OndselSolver/OndselSolver.cpp
@@ -25,11 +25,12 @@ void runSpMat();
 
 int main()
 {
-	ASMTAssembly::readWriteFile("piston.asmt");
-	MBDynSystem::runFile("MBDynCase.mbd");		//To be completed
-	MBDynSystem::runFile("crank_slider.mbd");		//To be completed
-	//ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
-	//ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
+	////ASMTAssembly::readWriteFile("piston.asmt");
+	//MBDynSystem::runFile("MBDynCaseJose.mbd");
+	//MBDynSystem::runFile("MBDynCase.mbd");
+	//MBDynSystem::runFile("crank_slider.mbd");
+	////ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
+	////ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
 	ASMTAssembly::runSinglePendulumSimplified();
 	ASMTAssembly::runSinglePendulum();
 	ASMTAssembly::runFile("piston.asmt");