diff --git a/OndselSolver/ASMTPrincipalMassMarker.h b/OndselSolver/ASMTPrincipalMassMarker.h
index c4eed88..633ad52 100644
--- a/OndselSolver/ASMTPrincipalMassMarker.h
+++ b/OndselSolver/ASMTPrincipalMassMarker.h
@@ -27,7 +27,7 @@ namespace MbD {
 
 		double mass = 1.0;
 		double density = 10.0;
-		DiagMatDsptr momentOfInertias = std::make_shared<DiagonalMatrix<double>>(ListD{ 1.0, 2.0, 3.0 });
+		DiagMatDsptr momentOfInertias = std::make_shared<DiagonalMatrix>(ListD{ 1.0, 2.0, 3.0 });
 
 	};
 }
diff --git a/OndselSolver/EndFrameqct.cpp b/OndselSolver/EndFrameqct.cpp
index a55201a..b0eb3f1 100644
--- a/OndselSolver/EndFrameqct.cpp
+++ b/OndselSolver/EndFrameqct.cpp
@@ -322,346 +322,3 @@ namespace MbD {
     }
 }
 
-EndFrameqct::EndFrameqct(const char* str) : EndFrameqc(str) {
-}
-
-void EndFrameqct::initialize()
-{
-	EndFrameqc::initialize();
-	rmem = std::make_shared<FullColumn<double>>(3);
-	prmempt = std::make_shared<FullColumn<double>>(3);
-	pprmemptpt = std::make_shared<FullColumn<double>>(3);
-	aAme = FullMatrix<double>::identitysptr(3);
-	pAmept = std::make_shared<FullMatrix<double>>(3, 3);
-	ppAmeptpt = std::make_shared<FullMatrix<double>>(3, 3);
-	pprOeOpEpt = std::make_shared<FullMatrix<double>>(3, 4);
-	pprOeOptpt = std::make_shared<FullColumn<double>>(3);
-	ppAOepEpt = std::make_shared<FullColumn<FMatDsptr>>(4);
-	ppAOeptpt = std::make_shared<FullMatrix<double>>(3, 3);
-}
-
-void EndFrameqct::initializeLocally()
-{
-	if (!rmemBlks) {
-		rmem->zeroSelf();
-		prmempt->zeroSelf();
-		pprmemptpt->zeroSelf();
-	}
-	if (!phiThePsiBlks) {
-		aAme->identity();
-		pAmept->zeroSelf();
-		ppAmeptpt->zeroSelf();
-	}
-}
-
-void EndFrameqct::initializeGlobally()
-{
-	if (rmemBlks) {
-		initprmemptBlks();
-		initpprmemptptBlks();
-	}
-	if (phiThePsiBlks) {
-		initpPhiThePsiptBlks();
-		initppPhiThePsiptptBlks();
-	}
-}
-
-void EndFrameqct::initprmemptBlks()
-{
-	auto& mbdTime = this->root()->time;
-	prmemptBlks = std::make_shared< FullColumn<Symsptr>>(3);
-	for (int i = 0; i < 3; i++) {
-		auto& disp = rmemBlks->at(i);
-		auto var = disp->differentiateWRT(mbdTime);
-		auto vel = var->simplified(var);
-		prmemptBlks->at(i) = vel;
-	}
-}
-
-void EndFrameqct::initpprmemptptBlks()
-{
-	auto& mbdTime = this->root()->time;
-	pprmemptptBlks = std::make_shared< FullColumn<Symsptr>>(3);
-	for (int i = 0; i < 3; i++) {
-		auto& vel = prmemptBlks->at(i);
-		auto var = vel->differentiateWRT(mbdTime);
-		auto acc = var->simplified(var);
-		pprmemptptBlks->at(i) = acc;
-	}
-}
-
-void EndFrameqct::initpPhiThePsiptBlks()
-{
-	auto& mbdTime = this->root()->time;
-	pPhiThePsiptBlks = std::make_shared< FullColumn<Symsptr>>(3);
-	for (int i = 0; i < 3; i++) {
-		auto& angle = phiThePsiBlks->at(i);
-		auto var = angle->differentiateWRT(mbdTime);
-		//std::cout << "var " << *var << std::endl;
-		auto vel = var->simplified(var);
-		//std::cout << "vel " << *vel << std::endl;
-		pPhiThePsiptBlks->at(i) = vel;
-		//std::cout << *angle << std::endl;
-		//std::cout << *vel << std::endl;
-	}
-}
-
-void EndFrameqct::initppPhiThePsiptptBlks()
-{
-	auto& mbdTime = this->root()->time;
-	ppPhiThePsiptptBlks = std::make_shared< FullColumn<Symsptr>>(3);
-	for (int i = 0; i < 3; i++) {
-		auto& angleVel = pPhiThePsiptBlks->at(i);
-		auto var = angleVel->differentiateWRT(mbdTime);
-		auto angleAcc = var->simplified(var);
-		ppPhiThePsiptptBlks->at(i) = angleAcc;
-		//std::cout << *angleVel << std::endl;
-		//std::cout << *angleAcc << std::endl;
-	}
-}
-
-void EndFrameqct::postInput()
-{
-	this->evalrmem();
-	this->evalAme();
-	Item::postInput();
-}
-
-void EndFrameqct::calcPostDynCorrectorIteration()
-{
-	auto& rOmO = markerFrame->rOmO;
-	auto& aAOm = markerFrame->aAOm;
-	rOeO = rOmO->plusFullColumn(aAOm->timesFullColumn(rmem));
-	auto& prOmOpE = markerFrame->prOmOpE;
-	auto& pAOmpE = markerFrame->pAOmpE;
-	for (int i = 0; i < 3; i++)
-	{
-		auto& prOmOpEi = prOmOpE->at(i);
-		auto& prOeOpEi = prOeOpE->at(i);
-		for (int j = 0; j < 4; j++)
-		{
-			auto prOeOpEij = prOmOpEi->at(j) + pAOmpE->at(j)->at(i)->timesFullColumn(rmem);
-			prOeOpEi->at(j) = prOeOpEij;
-		}
-	}
-	auto rpep = markerFrame->rpmp->plusFullColumn(markerFrame->aApm->timesFullColumn(rmem));
-	pprOeOpEpE = EulerParameters<double>::ppApEpEtimesColumn(rpep);
-	aAOe = aAOm->timesFullMatrix(aAme);
-	for (int i = 0; i < 4; i++)
-	{
-		pAOepE->at(i) = pAOmpE->at(i)->timesFullMatrix(aAme);
-	}
-	auto aApe = markerFrame->aApm->timesFullMatrix(aAme);
-	ppAOepEpE = EulerParameters<double>::ppApEpEtimesMatrix(aApe);
-}
-
-void EndFrameqct::prePosIC()
-{
-	time = this->root()->mbdTimeValue();
-	this->evalrmem();
-	this->evalAme();
-	EndFrameqc::prePosIC();
-}
-
-void EndFrameqct::evalrmem()
-{
-	if (rmemBlks) {
-		for (int i = 0; i < 3; i++)
-		{
-			auto& expression = rmemBlks->at(i);
-			double value = expression->getValue();
-			rmem->at(i) = value;
-		}
-	}
-}
-
-void EndFrameqct::evalAme()
-{
-	if (phiThePsiBlks) {
-		auto phiThePsi = CREATE<EulerAngleszxz<double>>::With();
-		for (int i = 0; i < 3; i++)
-		{
-			auto& expression = phiThePsiBlks->at(i);
-			auto value = expression->getValue();
-			phiThePsi->at(i) = value;
-		}
-		phiThePsi->calc();
-		aAme = phiThePsi->aA;
-	}
-}
-
-void EndFrameqct::preVelIC()
-{
-	time = this->root()->mbdTimeValue();
-	this->evalrmem();
-	this->evalAme();
-	Item::preVelIC();
-	this->evalprmempt();
-	this->evalpAmept();
-	auto& aAOm = markerFrame->aAOm;
-	prOeOpt = aAOm->timesFullColumn(prmempt);
-	pAOept = aAOm->timesFullMatrix(pAmept);
-}
-
-void EndFrameqct::postVelIC()
-{
-	auto& pAOmpE = markerFrame->pAOmpE;
-	for (int i = 0; i < 3; i++)
-	{
-		auto& pprOeOpEpti = pprOeOpEpt->at(i);
-		for (int j = 0; j < 4; j++)
-		{
-			auto pprOeOpEptij = pAOmpE->at(j)->at(i)->dot(prmempt);
-			pprOeOpEpti->atiput(j, pprOeOpEptij);
-		}
-	}
-	for (int i = 0; i < 4; i++)
-	{
-		ppAOepEpt->atiput(i, pAOmpE->at(i)->timesFullMatrix(pAmept));
-	}
-}
-
-FColDsptr EndFrameqct::pAjOept(int j)
-{
-	return pAOept->column(j);
-}
-
-FMatDsptr EndFrameqct::ppAjOepETpt(int jj)
-{
-	auto answer = std::make_shared<FullMatrix<double>>(4, 3);
-	for (int i = 0; i < 4; i++)
-	{
-		auto& answeri = answer->at(i);
-		auto& ppAOepEipt = ppAOepEpt->at(i);
-		for (int j = 0; j < 3; j++)
-		{
-			auto& answerij = ppAOepEipt->at(j)->at(jj);
-			answeri->atiput(j, answerij);
-		}
-	}
-	return answer;
-}
-
-FColDsptr EndFrameqct::ppAjOeptpt(int j)
-{
-	return ppAOeptpt->column(j);
-}
-
-double EndFrameqct::priOeOpt(int i)
-{
-	return prOeOpt->at(i);
-}
-
-FRowDsptr EndFrameqct::ppriOeOpEpt(int i)
-{
-	return pprOeOpEpt->at(i);
-}
-
-double EndFrameqct::ppriOeOptpt(int i)
-{
-	return pprOeOptpt->at(i);
-}
-
-void EndFrameqct::evalprmempt()
-{
-	if (rmemBlks) {
-		for (int i = 0; i < 3; i++)
-		{
-			auto& derivative = prmemptBlks->at(i);
-			auto value = derivative->getValue();
-			prmempt->at(i) = value;
-		}
-	}
-}
-
-void EndFrameqct::evalpAmept()
-{
-	if (phiThePsiBlks) {
-		auto phiThePsi = CREATE<EulerAngleszxz<double>>::With();
-		auto phiThePsiDot = CREATE<EulerAngleszxzDot<double>>::With();
-		phiThePsiDot->phiThePsi = phiThePsi;
-		for (int i = 0; i < 3; i++)
-		{
-			auto& expression = phiThePsiBlks->at(i);
-			auto& derivative = pPhiThePsiptBlks->at(i);
-			auto value = expression->getValue();
-			auto valueDot = derivative->getValue();
-			phiThePsi->at(i) = value;
-			phiThePsiDot->at(i) = valueDot;
-		}
-		phiThePsi->calc();
-		phiThePsiDot->calc();
-		pAmept = phiThePsiDot->aAdot;
-	}
-}
-
-void EndFrameqct::evalpprmemptpt()
-{
-	if (rmemBlks) {
-		for (int i = 0; i < 3; i++)
-		{
-			auto& secondDerivative = pprmemptptBlks->at(i);
-			auto value = secondDerivative->getValue();
-			pprmemptpt->atiput(i, value);
-		}
-	}
-}
-
-void EndFrameqct::evalppAmeptpt()
-{
-	if (phiThePsiBlks) {
-		auto phiThePsi = CREATE<EulerAngleszxz<double>>::With();
-		auto phiThePsiDot = CREATE<EulerAngleszxzDot<double>>::With();
-		phiThePsiDot->phiThePsi = phiThePsi;
-		auto phiThePsiDDot = CREATE<EulerAngleszxzDDot<double>>::With();
-		phiThePsiDDot->phiThePsiDot = phiThePsiDot;
-		for (int i = 0; i < 3; i++)
-		{
-			auto& expression = phiThePsiBlks->at(i);
-			auto& derivative = pPhiThePsiptBlks->at(i);
-			auto& secondDerivative = ppPhiThePsiptptBlks->at(i);
-			auto value = expression->getValue();
-			auto valueDot = derivative->getValue();
-			auto valueDDot = secondDerivative->getValue();
-			phiThePsi->atiput(i, value);
-			phiThePsiDot->atiput(i, valueDot);
-			phiThePsiDDot->atiput(i, valueDDot);
-		}
-		phiThePsi->calc();
-		phiThePsiDot->calc();
-		phiThePsiDDot->calc();
-		ppAmeptpt = phiThePsiDDot->aAddot;
-	}
-}
-
-FColDsptr EndFrameqct::rmeO()
-{
-	return markerFrame->aAOm->timesFullColumn(rmem);
-}
-
-FColDsptr EndFrameqct::rpep()
-{
-	auto& rpmp = markerFrame->rpmp;
-	auto& aApm = markerFrame->aApm;
-	auto rpep = rpmp->plusFullColumn(aApm->timesFullColumn(rmem));
-	return rpep;
-}
-
-void EndFrameqct::preAccIC()
-{
-	time = this->root()->mbdTimeValue();
-	this->evalrmem();
-	this->evalAme();
-	Item::preVelIC();
-	this->evalprmempt();
-	this->evalpAmept();
-	auto& aAOm = markerFrame->aAOm;
-	prOeOpt = aAOm->timesFullColumn(prmempt);
-	pAOept = aAOm->timesFullMatrix(pAmept);
-	Item::preAccIC();
-	this->evalpprmemptpt();
-	this->evalppAmeptpt();
-	aAOm = markerFrame->aAOm;
-	pprOeOptpt = aAOm->timesFullColumn(pprmemptpt);
-	ppAOeptpt = aAOm->timesFullMatrix(ppAmeptpt);
-}
diff --git a/OndselSolver/FullColumn.cpp b/OndselSolver/FullColumn.cpp
index b173b08..acf14d7 100644
--- a/OndselSolver/FullColumn.cpp
+++ b/OndselSolver/FullColumn.cpp
@@ -169,5 +169,36 @@ namespace MbD {
     // instantiate on purpose to make visible in library api:
     template class FullColumn<double>;
     template class FullColumn<int>;
+    template<typename T>
+    double FullColumn<T>::dot(std::shared_ptr<FullVector<T>> vec)
+    {
+        int n = (int)this->size();
+        double answer = 0.0;
+        for (int i = 0; i < n; i++) {
+            answer += this->at(i) * vec->at(i);
+        }
+        return answer;
+    }
+    template<typename T>
+    std::shared_ptr<FullVector<T>> FullColumn<T>::dot(std::shared_ptr<std::vector<std::shared_ptr<FullColumn<T>>>> vecvec)
+    {
+        int ncol = (int)this->size();
+        auto nelem = vecvec->at(0)->size();
+        auto answer = std::make_shared<FullVector<T>>(nelem);
+        for (int k = 0; k < nelem; k++) {
+            auto sum = 0.0;
+            for (int i = 0; i < ncol; i++)
+            {
+                sum += this->at(i) * vecvec->at(i)->at(k);
+            }
+            answer->at(k) = sum;
+        }
+        return answer;
+    }
+    template<typename T>
+    std::shared_ptr<FullColumn<T>> FullColumn<T>::clonesptr()
+    {
+        return std::make_shared<FullColumn<T>>(*this);
+    }
 
 }
\ No newline at end of file
diff --git a/OndselSolver/FullMatrix.h b/OndselSolver/FullMatrix.h
index af0d6a6..8e2c535 100644
--- a/OndselSolver/FullMatrix.h
+++ b/OndselSolver/FullMatrix.h
@@ -107,6 +107,14 @@ namespace MbD {
     public:
         FullMatrixFullMatrixDouble() = default;
 		explicit FullMatrixFullMatrixDouble(int m) : RowTypeMatrix<FRowsptr<FMatDsptr>>(m)
+		{
+		}
+        FullMatrixFullMatrixDouble(int m, int n) {
+            for (int i = 0; i < m; i++) {
+                auto row = std::make_shared<FullRow<FMatDsptr>>(n);
+                this->push_back(row);
+            }
+        }
 
         double maxMagnitude() override;
         void zeroSelf() override;
diff --git a/OndselSolver/FullRow.cpp b/OndselSolver/FullRow.cpp
index 5e49af8..4e08613 100644
--- a/OndselSolver/FullRow.cpp
+++ b/OndselSolver/FullRow.cpp
@@ -22,6 +22,18 @@ namespace MbD {
         }
         return answer;
     }
+    //template<typename T>
+    //inline FMatDsptr FullRow<T>::transposeTimesFullRow(FRowDsptr fullRow)
+    //{
+    //    //"a*b = a(i)b(j)"
+    //    auto nrow = (int)this->size();
+    //    auto answer = std::make_shared<FullMatrixDouble>(nrow);
+    //    for (int i = 0; i < nrow; i++)
+    //    {
+    //        answer->atiput(i, fullRow->times(this->at(i)));
+    //    }
+    //    return answer;
+    //}
 
     template<>
     FRowsptr<double> FullRow<double>::timesTransposeFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat)
diff --git a/OndselSolver/FullRow.h b/OndselSolver/FullRow.h
index b806d76..85712bf 100644
--- a/OndselSolver/FullRow.h
+++ b/OndselSolver/FullRow.h
@@ -35,7 +35,7 @@ namespace MbD {
 		FColsptr<T> transpose();
 		FRowsptr<T> copy();
 		void atiplusFullRow(int j, FRowsptr<T> fullRow);
-		FMatsptr<T> transposeTimesFullRow(FRowsptr<T> fullRow);
+		FMatDsptr transposeTimesFullRow(FRowDsptr fullRow);
 		std::shared_ptr<FullRow<T>> clonesptr();
 		//double dot(std::shared_ptr<FullColumn<T>> vec);
 		//double dot(std::shared_ptr<FullRow<T>> vec);
@@ -45,7 +45,6 @@ namespace MbD {
 		
 		std::ostream& printOn(std::ostream& s) const override;
 
-        std::shared_ptr<FullMatrixDouble> transposeTimesFullRow(FRowsptr<double> fullRow);
         FRowsptr<double> timesTransposeFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat);
         // FRowsptr<std::shared_ptr<FullMatrixDouble>> timesTransposeFullMatrixForFMFMDsptr(std::shared_ptr<FullMatrixFullMatrixDouble> fullMat);
         FRowsptr<double> timesFullMatrix(std::shared_ptr<FullMatrixDouble> fullMat);
@@ -142,18 +141,6 @@ namespace MbD {
 		}
 	}
 	template<typename T>
-	inline FMatsptr<T> FullRow<T>::transposeTimesFullRow(FRowsptr<T> fullRow)
-	{
-		//"a*b = a(i)b(j)"
-		auto nrow = (int)this->size();
-		auto answer = std::make_shared<FullMatrix<double>>(nrow);
-		for (int i = 0; i < nrow; i++)
-		{
-			answer->atiput(i, fullRow->times(this->at(i)));
-		}
-		return answer;
-	}
-	template<typename T>
 	inline std::shared_ptr<FullRow<T>> FullRow<T>::clonesptr()
 	{
 		return std::make_shared<FullRow<T>>(*this);
diff --git a/OndselSolver/MBDynMarker.cpp b/OndselSolver/MBDynMarker.cpp
index 642c60e..32c5d88 100644
--- a/OndselSolver/MBDynMarker.cpp
+++ b/OndselSolver/MBDynMarker.cpp
@@ -37,7 +37,7 @@ void MbD::MBDynMarker::parseMBDynClamp(std::vector<std::string>& args)
 	//rOmO = rOPO + aAOP*rPmP
 	//aAOm = aAOP * aAPm
 	auto rOmO = std::make_shared<FullColumn<double>>(3);
-	auto aAOm = FullMatrix<double>::identitysptr(3);
+	auto aAOm = FullMatrixDouble::identitysptr(3);
 	auto rOPO = readPosition(args);
 	auto aAOP = readOrientation(args);
 	rPmP = aAOP->transposeTimesFullColumn(rOmO->minusFullColumn(rOPO));
diff --git a/OndselSolver/OndselSolver.vcxproj b/OndselSolver/OndselSolver.vcxproj
index d328b2c..70d0f9b 100644
--- a/OndselSolver/OndselSolver.vcxproj
+++ b/OndselSolver/OndselSolver.vcxproj
@@ -134,6 +134,7 @@
     </Link>
   </ItemDefinitionGroup>
   <ItemGroup>
+    <ClCompile Include="..\testapp\OndselSolver.cpp" />
     <ClCompile Include="Abs.cpp" />
     <ClCompile Include="AbsConstraint.cpp" />
     <ClCompile Include="AccICKineNewtonRaphson.cpp" />
@@ -347,7 +348,6 @@
     <ClCompile Include="NoRotationJoint.cpp" />
     <ClCompile Include="NotKinematicError.cpp" />
     <ClCompile Include="Numeric.cpp" />
-    <ClCompile Include="OndselSolver.cpp" />
     <ClCompile Include="OrbitAngleZIecJec.cpp" />
     <ClCompile Include="OrbitAngleZIeqcJec.cpp" />
     <ClCompile Include="OrbitAngleZIeqcJeqc.cpp" />
@@ -426,6 +426,7 @@
     <ClCompile Include="ZTranslation.cpp" />
   </ItemGroup>
   <ItemGroup>
+    <ClInclude Include="..\testapp\OndselSolver.h" />
     <ClInclude Include="Abs.h" />
     <ClInclude Include="AbsConstraint.h" />
     <ClInclude Include="AccICKineNewtonRaphson.h" />
@@ -499,14 +500,19 @@
     <ClInclude Include="CREATE.h" />
     <ClInclude Include="CylindricalJoint.h" />
     <ClInclude Include="CylSphJoint.h" />
+    <ClInclude Include="DiagonalMatrix.ref.h" />
     <ClInclude Include="DifferentiatedGeneralSpline.h" />
     <ClInclude Include="EigenDecomposition.h" />
     <ClInclude Include="EndFrameqct2.h" />
     <ClInclude Include="EulerAngles.h" />
     <ClInclude Include="EulerAnglesDDot.h" />
     <ClInclude Include="EulerAnglesDot.h" />
+    <ClInclude Include="EulerParameters.ref.h" />
     <ClInclude Include="Exponential.h" />
     <ClInclude Include="ExternalSystem.h" />
+    <ClInclude Include="FullColumn.ref.h" />
+    <ClInclude Include="FullMatrix.ref.h" />
+    <ClInclude Include="FullRow.ref.h" />
     <ClInclude Include="FunctionFromData.h" />
     <ClInclude Include="FunctionXcParameter.h" />
     <ClInclude Include="FunctionXY.h" />
@@ -640,7 +646,6 @@
     <ClInclude Include="NoRotationJoint.h" />
     <ClInclude Include="NotKinematicError.h" />
     <ClInclude Include="Numeric.h" />
-    <ClInclude Include="OndselSolver.h" />
     <ClInclude Include="OrbitAngleZIecJec.h" />
     <ClInclude Include="OrbitAngleZIeqcJec.h" />
     <ClInclude Include="OrbitAngleZIeqcJeqc.h" />
diff --git a/OndselSolver/OndselSolver.vcxproj.filters b/OndselSolver/OndselSolver.vcxproj.filters
index 24c6279..9ac9c06 100644
--- a/OndselSolver/OndselSolver.vcxproj.filters
+++ b/OndselSolver/OndselSolver.vcxproj.filters
@@ -15,9 +15,6 @@
     </Filter>
   </ItemGroup>
   <ItemGroup>
-    <ClCompile Include="OndselSolver.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="Array.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -885,6 +882,9 @@
     <ClCompile Include="Integral.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="..\testapp\OndselSolver.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="Array.h">
@@ -953,9 +953,6 @@
     <ClInclude Include="EndFrameqct.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="OndselSolver.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="FullVector.h">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -1763,6 +1760,24 @@
     <ClInclude Include="Integral.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="..\testapp\OndselSolver.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="FullRow.ref.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="FullMatrix.ref.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="FullColumn.ref.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="EulerParameters.ref.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="DiagonalMatrix.ref.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ResourceCompile Include="OndselSolver.rc">
diff --git a/OndselSolver/Part.cpp b/OndselSolver/Part.cpp
index b631a0c..0bdcec9 100644
--- a/OndselSolver/Part.cpp
+++ b/OndselSolver/Part.cpp
@@ -586,5 +586,5 @@ void Part::postDynStep()
 
 void MbD::Part::postAccIC()
 {
-	calcpdot();
+	//calcpdot();
 }
diff --git a/OndselSolver/assembly.asmt b/OndselSolver/assembly.asmt
new file mode 100644
index 0000000..a49681f
--- /dev/null
+++ b/OndselSolver/assembly.asmt
@@ -0,0 +1,439 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
+	Name
+		Assembly
+	Position3D
+		0	0	0	
+	RotationMatrix
+		1	0	0	
+		0	1	0	
+		0	0	1	
+	Velocity3D
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+	Omega3D
+		0	0	0	
+	RefPoints
+		RefPoint
+			Position3D
+				0	0	0	
+			RotationMatrix
+				1	0	0	
+				0	1	0	
+				0	0	1	
+			Markers
+				Marker
+					Name
+						Marker0
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+	RefCurves
+	RefSurfaces
+	Parts
+		Part
+			Name
+				structural_node_1
+			Position3D
+				-0.06210573361337854	0.04852643537547956	-4.033966837940965e-17	
+			RotationMatrix
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+				0	1	0	
+				0	0	1	
+			Velocity3D
+				0	0	0	
+			Omega3D
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+			FeatureOrder
+			PrincipalMassMarker
+				Name
+					MassMarker
+				Position3D
+					0	0	0	
+				RotationMatrix
+					1	0	0	
+					0	1	0	
+					0	0	1	
+				Mass
+					1
+				MomentOfInertias
+					1	2	3	
+				Density
+					10
+			RefPoints
+				RefPoint
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+						0	0	0	
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+					Markers
+						Marker
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+								0.2521057336133785	0.1114735646245204	0.135	
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+								1	2.220446049250313e-16	0	
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+						0	0	0	
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+						Marker
+							Name
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+					Position3D
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+						Marker
+							Name
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+								0	0.1114735580310104	2.411867397077946e-17	
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+								-1	1.232595164407831e-32	1.110223024625157e-16	
+								-1.232595164407831e-32	1	-2.220446049250313e-16	
+			RefCurves
+			RefSurfaces
+		Part
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+				structural_node_2
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+				0.01166600667694188	0.1599999999999978	-1.208436328934954e-19	
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+			RefCurves
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+		Part
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+			RefCurves
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+	KinematicIJs
+	ConstraintSets
+		Joints
+			FixedJoint
+				Name
+					joint_1
+				MarkerI
+					/Assembly/Marker0
+				MarkerJ
+					/Assembly/structural_node_1/Marker0
+			RevoluteJoint
+				Name
+					joint_2
+				MarkerI
+					/Assembly/structural_node_1/Marker1
+				MarkerJ
+					/Assembly/structural_node_3/Marker0
+			RevoluteJoint
+				Name
+					joint_3
+				MarkerI
+					/Assembly/structural_node_2/Marker0
+				MarkerJ
+					/Assembly/structural_node_3/Marker1
+			NoRotationJoint
+				Name
+					joint_4
+				MarkerI
+					/Assembly/structural_node_1/Marker2
+				MarkerJ
+					/Assembly/structural_node_4/Marker0
+			PointInLineJoint
+				Name
+					joint_5
+				MarkerI
+					/Assembly/structural_node_1/Marker3
+				MarkerJ
+					/Assembly/structural_node_4/Marker1
+			PointInLineJoint
+				Name
+					joint_6
+				MarkerI
+					/Assembly/structural_node_2/Marker1
+				MarkerJ
+					/Assembly/structural_node_4/Marker2
+		Motions
+			RotationalMotion
+				Name
+					joint_2Motion
+				MarkerI
+					/Assembly/structural_node_1/Marker1
+				MarkerJ
+					/Assembly/structural_node_3/Marker0
+				MotionJoint
+					/Assembly/joint_2
+				RotationZ
+					integral(time,  rampstep(time, 0.0, 0.0, 1.0, 0.0 + 10.0*(1.0 - 0.0)))
+		GeneralConstraintSets
+	ForceTorques
+	ConstantGravity
+		0	0	0	
+	SimulationParameters
+		tstart
+			0
+		tend
+			8
+		hmin
+			1e-09
+		hmax
+			1
+		hout
+			0.01
+		errorTol
+			1e-06
+	AnimationParameters
+		nframe
+			1000000
+		icurrent
+			1
+		istart
+			1
+		iend
+			1000000
+		isForward
+			true
+		framesPerSecond
+			30
diff --git a/OndselSolver/CrankSlider2.mbd b/testapp/CrankSlider2.mbd
similarity index 100%
rename from OndselSolver/CrankSlider2.mbd
rename to testapp/CrankSlider2.mbd
diff --git a/testapp/CrankSlider2.mov b/testapp/CrankSlider2.mov
new file mode 100644
index 0000000..84d7555
--- /dev/null
+++ b/testapp/CrankSlider2.mov
@@ -0,0 +1,3204 @@
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diff --git a/OndselSolver/MBDynCase.mbd b/testapp/MBDynCase.mbd
similarity index 100%
rename from OndselSolver/MBDynCase.mbd
rename to testapp/MBDynCase.mbd
diff --git a/testapp/MBDynCase.mov b/testapp/MBDynCase.mov
new file mode 100644
index 0000000..afdeeb0
--- /dev/null
+++ b/testapp/MBDynCase.mov
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diff --git a/OndselSolver/MBDynCase2.mbd b/testapp/MBDynCase2.mbd
similarity index 100%
rename from OndselSolver/MBDynCase2.mbd
rename to testapp/MBDynCase2.mbd
diff --git a/testapp/MBDynCase2.mov b/testapp/MBDynCase2.mov
new file mode 100644
index 0000000..cb0b9d7
--- /dev/null
+++ b/testapp/MBDynCase2.mov
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+3 -0.0364169078625617 0.0225144951487566 -0.004999999999998042 0.9869841072525993 0.1608178224911329 6.441324348880855e-17 -0.1608178224911329 0.9869841072525993 5.014180335326852e-17 -5.551115198899478e-17 -5.984796057612246e-17 1 -0.2553615589596527 -0.1682873042367044 -2.567595822425464e-17 3.922458261710111e-17 3.053395857239262e-17 1.217904284665192 
+4 0.1473417017869131 2.029934907364071e-10 -1.256225159123916e-08 1 0 0 0 1 0 0 0 1 -0.2279410588509083 0 0 0 0 0 
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+2 -0.1510871172098918 0.02221296100892527 -0.03328676225522106 -0.8044999341671328 -0.5939527387975233 4.186755326928157e-18 0.5939527387975233 -0.8044999341671328 -3.091031593436843e-18 5.20417106551908e-18 7.967563128059256e-26 1 -0.139497395136052 -0.1889470960781238 -1.777646325713128e-42 1.314641172655461e-17 -9.705839203391832e-18 6.280000000000094 
+3 -0.03886700993689401 0.02078834585791241 -0.004999999999998042 0.98891418181998 0.1484881846993879 6.378248040538443e-17 -0.1484881846993879 0.98891418181998 5.094174661940912e-17 -5.551115194360742e-17 -5.984796040963351e-17 1 -0.2345502503627014 -0.176829085529928 -7.80625564189563e-18 4.073225639891234e-17 3.253200991122057e-17 1.277223969341706 
+4 0.145161810152014 2.029934912204407e-10 -1.25622515917232e-08 1 0 0 0 1 0 0 0 1 -0.2079988767500102 0 0 0 0 0 
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+2 -0.1524218645244372 0.02028094397688921 -0.03328676225522106 -0.8401897651067505 -0.5422925028154673 4.372491308321321e-18 0.5422925028154673 -0.8401897651067505 -2.82218288525753e-18 5.204171065519082e-18 7.967563089540657e-26 1 -0.1273643281748653 -0.1973293092134688 1.387778780781446e-17 1.372962270812915e-17 -8.861654259708777e-18 6.280000000000095 
+3 -0.04110585556349264 0.01898023759854056 -0.004999999999998042 0.9907673428140845 0.1355731257038738 6.311241149442747e-17 -0.1355731257038738 0.9907673428140845 5.176958419032933e-17 -5.551115188985019e-17 -5.984796026385125e-17 1 -0.2131216818954478 -0.1846737103704556 -5.637851296924622e-18 4.2013623097424e-17 3.446275853799219e-17 1.331390200519706 
+4 0.14318240706459 2.029934916599569e-10 -1.256225159216271e-08 1 0 0 0 1 0 0 0 1 -0.1878515795532152 0 0 0 0 0 
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+2 -0.153632729755086 0.01826896843057444 -0.03328676225522106 -0.8725671109171356 -0.4884942547724827 4.540988550279624e-18 0.4884942547724827 -0.8725671109171356 -2.542207596836926e-18 5.204171065519082e-18 7.967563089540657e-26 1 -0.1147291217440084 -0.2049335428619436 -1.777646347095246e-42 1.425870404787823e-17 -7.982531854068067e-18 6.280000000000094 
+3 -0.04312761116689898 0.01709729891703621 -0.004999999999998043 0.9925149042663746 0.1221235636931276 6.240449171495194e-17 -0.1221235636931276 0.9925149042663746 5.262077274326066e-17 -5.55111518285641e-17 -5.984796014038819e-17 1 -0.1911433265801495 -0.1917902509795779 -5.637851296924622e-18 4.306726664332644e-17 3.631522008164852e-17 1.380261755517436 
+4 0.1414053100645042 2.029934920545522e-10 -1.256225159255731e-08 1 0 0 0 1 0 0 0 1 -0.1675445787623147 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1547149390123714 0.01618496667212763 -0.03328676225522106 -0.9015043224873709 -0.432770096629361 4.691582745010389e-18 0.432770096629361 -0.9015043224873709 -2.252209543072492e-18 5.204171065519082e-18 7.967563051022058e-26 1 -0.1016415907009622 -0.2117298169976955 -1.777646331058657e-42 1.473156981933285e-17 -7.071937965247731e-18 6.280000000000095 
+3 -0.04492710814968436 0.01514695338202708 -0.004999999999998049 0.9941299601744542 0.1081925241573472 6.166040095174073e-17 -0.1081925241573472 0.9941299601744542 5.3490758503338e-17 -5.551115176092767e-17 -5.984796004014768e-17 1 -0.1686807280357448 -0.1981506500827153 -5.854691731421722e-18 4.389354447180909e-17 3.807790658115698e-17 1.423719073969788 
+4 0.1398319209088499 2.029934924039151e-10 -1.256225159290667e-08 1 0 0 0 1 0 0 0 1 -0.1471157215932216 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -6.938893903907228e-18 -0 -0 0 0 0 
+2 -0.1556642256386637 0.01403715497020727 -0.03328676225522106 -0.9268873135871899 -0.3753397233322397 4.823680168272593e-18 0.3753397233322397 -0.9268873135871899 -1.953332054055247e-18 5.20417106551908e-18 7.967563128059256e-26 1 -0.08815333321290215 -0.2176913370108114 1.062518129035794e-17 1.514635572837618e-17 -6.133462649733571e-18 6.280000000000096 
+3 -0.04649982429298268 0.01313689031662796 -0.004999999999998044 0.9955877689865186 0.09383493083306682 6.08820528470121e-17 -0.09383493083306682 0.9955877689865186 5.437501185918828e-17 -5.551115168842197e-17 -5.984795996337925e-17 1 -0.145797645404042 -0.2037298315264554 4.621553852369863e-18 4.449449990350102e-17 3.973895174003246e-17 1.461662273948264 
+4 0.1384632979992406 2.029934927078108e-10 -1.256225159321057e-08 1 0 0 0 1 0 0 0 1 -0.1265959484312306 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1564768470296567 0.01183400116698243 -0.03328676225522106 -0.9486160106569692 -0.3164295566555959 4.936760020160863e-18 0.3164295566555959 -0.9486160106569692 -1.646753467440504e-18 5.20417106551908e-18 7.967563070281358e-26 1 -0.07431752732864995 -0.2227945993462476 -3.035766082959412e-18 1.550142646330535e-17 -5.17080588776326e-18 6.280000000000096 
+3 -0.04784186677052454 0.01107503448294555 -0.004999999999998043 0.9968660998246808 0.07910738916390578 6.007160106026525e-17 -0.07910738916390578 0.9968660998246808 5.526906010412471e-17 -5.551115161279049e-17 -5.984795990974796e-17 1 -0.1225562295599198 -0.2085057991423926 5.982718157498325e-18 4.487376269575942e-17 4.128624247990379e-17 1.494009212464339 
+4 0.1373002218390414 2.029934929660658e-10 -1.256225159346882e-08 1 0 0 0 1 0 0 0 1 -0.1060100260140389 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -3.469446951953614e-18 -0 -0 0 0 0 
+2 -0.1571495993897495 0.009584191293292434 -0.03328676225522106 -0.9666047473521393 -0.2562718525244371 5.030376478382007e-18 0.2562718525244371 -0.9666047473521393 -1.333682482799805e-18 5.204171065519081e-18 7.967563128059256e-26 1 -0.06018872132187654 -0.2270194841676306 5.421010862427522e-18 1.579538214211974e-17 -4.187762995991452e-18 6.280000000000095 
+3 -0.04894995704471621 0.008969514838355125 -0.004999999999998043 0.9979455376423254 0.06406796313111604 5.923144285169705e-17 -0.06406796313111604 0.9979455376423254 5.616851808768283e-17 -5.55111515359964e-17 -5.984795987841066e-17 1 -0.09901722201077122 -0.2124597234679909 -8.87008573922698e-19 4.503643984496528e-17 4.27075547082388e-17 1.520693661227432 
+4 0.13634325285932 2.029934931785559e-10 -1.256225159368131e-08 1 0 0 0 1 0 0 0 1 -0.08537733765179907 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1576798303631518 0.007296595323588055 -0.03328676225522106 -0.9807826022865188 -0.1951037853350985 5.104160455929028e-18 0.1951037853350985 -0.9807826022865188 -1.015353396269693e-18 5.204171065519081e-18 7.967563128059256e-26 1 -0.04582261863213281 -0.230349334680597 -1.777646323040363e-42 1.602706383161739e-17 -3.188209664286885e-18 6.280000000000095 
+3 -0.04982141783535943 0.006828632486728404 -0.00499999999999805 0.9988097451763495 0.04877594633378133 5.836421992309918e-17 -0.04877594633378133 0.9988097451763495 5.706911660062811e-17 -5.551115146017857e-17 -5.984795986809483e-17 1 -0.07524016949334784 -0.2155760159825673 -6.613633252161576e-18 4.498899839718517e-17 4.399069153425424e-17 1.541663658195476 
+4 0.1355927811234401 2.029934933451942e-10 -1.256225159384795e-08 1 0 0 0 1 0 0 0 1 -0.06471271495338553 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1580654494909133 0.00498023220566635 -0.03328676225522106 -0.9910936786430032 -0.1331665128847319 5.157821056222911e-18 0.1331665128847319 -0.9910936786430032 -6.930212342847814e-19 5.204171065519082e-18 7.967563089540657e-26 1 -0.03127585825158426 -0.232771022802939 -5.421010862427522e-18 1.619555811654018e-17 -2.176086675654246e-18 6.280000000000094 
+3 -0.0504541622896134 0.004660827950965701 -0.004999999999998045 0.9994456801099207 0.03329162822118961 5.747281648229941e-17 -0.03329162822118961 0.9994456801099207 5.796672834850967e-17 -5.551115138760711e-17 -5.984795987717664e-17 1 -0.05128364884734586 -0.2178423905657224 -1.194010296334386e-17 4.473914170700588e-17 4.512362248114642e-17 1.556880085067163 
+4 0.1350490675598861 2.02993493465923e-10 -1.256225159396868e-08 1 0 0 0 1 0 0 0 1 -0.04402729863056289 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.15830493645265 0.002644234303072767 -0.03328676225522106 -0.9974973245492221 -0.07070422559609696 5.191146719985161e-18 0.07070422559609696 -0.9974973245492221 -3.679568055809125e-19 5.20417106551908e-18 7.967563108799957e-26 1 -0.01660579142329634 -0.2342750009226455 1.355252715606881e-18 1.630020070075366e-17 -1.155384369524083e-18 6.280000000000096 
+3 -0.05084668543495274 0.002474647895863612 -0.004999999999998043 0.9998437663106063 0.01767605639903085 5.656035452329112e-17 -0.01767605639903085 0.9998437663106063 5.885739139465758e-17 -5.551115132063874e-17 -5.984795990375478e-17 1 -0.02720549818900162 -0.2192499119359094 -5.252727599759062e-18 4.429568029289978e-17 4.60946225331425e-17 1.566315510793312 
+4 0.1347122764826428 2.029934935407057e-10 -1.256225159404346e-08 1 0 0 0 1 0 0 0 1 -0.02332941880595835 0 0 0 0 0 
+1 -0.121 -1.218180697837851e-18 -0.08 1 0 0 0 1 0 0 0 1 -0 -0 -0 0 0 0 
+2 -0.1583973470604745 0.0002978113903554085 -0.03328676225522106 -0.9999682933493389 -0.007963183786058085 5.204006059319596e-18 0.007963183786058085 -0.9999682933493389 -4.144169097570936e-20 5.20417106551908e-18 7.967563105790691e-26 1 -0.001870255531431112 -0.234855339539783 2.168404344971009e-19 1.634057902626378e-17 -1.301269096637294e-19 6.280000000000096 
+3 -0.05099805796351577 0.0002787114325123807 -0.004999999999998045 0.9999980183637862 0.001990795946521073 5.563018633483155e-17 -0.001990795946521073 0.9999980183637862 5.973732997391631e-17 -5.551115126167166e-17 -5.984795994571952e-17 1 -0.003063051650314241 -0.219793030878175 -6.572975670693368e-18 4.366839818791859e-17 4.689241010776064e-17 1.569953331634866 
+4 0.1345824992415249 2.029934935695221e-10 -1.256225159407228e-08 1 0 0 0 1 0 0 0 1 -0.002625487708276635 0 0 0 0 0 
diff --git a/OndselSolver/MBDynCase2orig.mbd b/testapp/MBDynCase2orig.mbd
similarity index 100%
rename from OndselSolver/MBDynCase2orig.mbd
rename to testapp/MBDynCase2orig.mbd
diff --git a/OndselSolver/MBDynCaseDebug1.mbd b/testapp/MBDynCaseDebug1.mbd
similarity index 100%
rename from OndselSolver/MBDynCaseDebug1.mbd
rename to testapp/MBDynCaseDebug1.mbd
diff --git a/OndselSolver/MBDynCaseDebug2.mbd b/testapp/MBDynCaseDebug2.mbd
similarity index 100%
rename from OndselSolver/MBDynCaseDebug2.mbd
rename to testapp/MBDynCaseDebug2.mbd
diff --git a/testapp/OndselSolver.cpp b/testapp/OndselSolver.cpp
index 2d628d8..27c05bd 100644
--- a/testapp/OndselSolver.cpp
+++ b/testapp/OndselSolver.cpp
@@ -26,26 +26,25 @@ void sharedptrTest();
 
 int main()
 {
-	ASMTAssembly::readWriteFile("failingsolve.asmt");
-	ASMTAssembly::runFile("cirpendu2.asmt");	//Under constrained. Testing ICKine.
-	ASMTAssembly::runFile("quasikine.asmt");	//Under constrained. Testing ICKine.
-	ASMTAssembly::readWriteFile("piston.asmt");
-	//MBDynSystem::runFile("MBDynCaseDebug2.mbd");
+	ASMTAssembly::runFile("../testapp/cirpendu2.asmt");	//Under constrained. Testing ICKine.
+	ASMTAssembly::runFile("../testapp/quasikine.asmt");	//Under constrained. Testing ICKine.
+	ASMTAssembly::readWriteFile("../testapp/piston.asmt");
+	//MBDynSystem::runFile("../testapp/MBDynCaseDebug2.mbd");
 	//return 0;
-	MBDynSystem::runFile("MBDynCase2.mbd");
-	MBDynSystem::runFile("MBDynCase.mbd");
-	MBDynSystem::runFile("CrankSlider2.mbd");
-	//MBDynSystem::runFile("crank_slider.mbd");	//Needs integration of product
+	MBDynSystem::runFile("../testapp/MBDynCase2.mbd");
+	//MBDynSystem::runFile("../testapp/MBDynCase.mbd");	//Very large but works
+	MBDynSystem::runFile("../testapp/CrankSlider2.mbd");
+	//MBDynSystem::runFile("../testapp/crank_slider.mbd");	//Needs integration of product
 	////ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
 	////ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
 	ASMTAssembly::runSinglePendulumSimplified();
 	ASMTAssembly::runSinglePendulum();
 	ASMTAssembly::runFile("../testapp/piston.asmt");
 	ASMTAssembly::runFile("../testapp/00backhoe.asmt");
-	//ASMTAssembly::runFile("circular.asmt");	//Needs checking
-	//ASMTAssembly::runFile("engine1.asmt");	//Needs checking
+	//ASMTAssembly::runFile("../testapp/circular.asmt");	//Needs checking
+	//ASMTAssembly::runFile("../testapp/engine1.asmt");	//Needs checking
 	ASMTAssembly::runFile("../testapp/fourbar.asmt");
-	//ASMTAssembly::runFile("fourbot.asmt");	//Very large but works
+	//ASMTAssembly::runFile("../testapp/fourbot.asmt");	//Very large but works
 	ASMTAssembly::runFile("../testapp/wobpump.asmt");
 
 	auto cadSystem = std::make_shared<CADSystem>();
diff --git a/testapp/assembly2.asmt b/testapp/assembly2.asmt
new file mode 100644
index 0000000..976729d
--- /dev/null
+++ b/testapp/assembly2.asmt
@@ -0,0 +1,586 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
+	Name
+		Assembly
+	Position3D
+		0	0	0	
+	RotationMatrix
+		1	0	0	
+		0	1	0	
+		0	0	1	
+	Velocity3D
+		0	0	0	
+	Omega3D
+		0	0	0	
+	RefPoints
+		RefPoint
+			Position3D
+				0	0	0	
+			RotationMatrix
+				1	0	0	
+				0	1	0	
+				0	0	1	
+			Markers
+				Marker
+					Name
+						Marker0
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+	RefCurves
+	RefSurfaces
+	Parts
+		Part
+			Name
+				structural_node_1
+			Position3D
+				-0.06210573361337854	0.04852643537547956	-4.033966837940965e-17	
+			RotationMatrix
+				1	0	0	
+				0	1	0	
+				0	0	1	
+			Velocity3D
+				0	0	0	
+			Omega3D
+				0	0	0	
+			FeatureOrder
+			PrincipalMassMarker
+				Name
+					MassMarker
+				Position3D
+					0	0	0	
+				RotationMatrix
+					1	0	0	
+					0	1	0	
+					0	0	1	
+				Mass
+					1
+				MomentOfInertias
+					1	2	3	
+				Density
+					10
+			RefPoints
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								Marker0
+							Position3D
+								0.06210573361337854	-0.04852643537547956	4.033966837940965e-17	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								Marker1
+							Position3D
+								0.2521057336133785	0.1114735646245204	0.135	
+							RotationMatrix
+								2.220446049250313e-16	-1	0	
+								1	2.220446049250313e-16	0	
+								-0	0	1	
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								Marker2
+							Position3D
+								0	0	0	
+							RotationMatrix
+								1	0	0	
+								0	1	0	
+								0	0	1	
+				RefPoint
+					Position3D
+						0	0	0	
+					RotationMatrix
+						1	0	0	
+						0	1	0	
+						0	0	1	
+					Markers
+						Marker
+							Name
+								Marker3
+							Position3D
+								0	0.1114735580310104	2.411867397077946e-17	
+							RotationMatrix
+								-1.110223024625157e-16	-2.220446049250313e-16	-1	
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diff --git a/OndselSolver/cirpendu2.asmt b/testapp/cirpendu2.asmt
similarity index 100%
rename from OndselSolver/cirpendu2.asmt
rename to testapp/cirpendu2.asmt
diff --git a/OndselSolver/crank_slider.mbd b/testapp/crank_slider.mbd
similarity index 100%
rename from OndselSolver/crank_slider.mbd
rename to testapp/crank_slider.mbd
diff --git a/OndselSolver/crank_sliderX.mbd b/testapp/crank_sliderX.mbd
similarity index 100%
rename from OndselSolver/crank_sliderX.mbd
rename to testapp/crank_sliderX.mbd
diff --git a/OndselSolver/quasikine.asmt b/testapp/quasikine.asmt
similarity index 100%
rename from OndselSolver/quasikine.asmt
rename to testapp/quasikine.asmt
diff --git a/testapp/smalltalk.asmt b/testapp/smalltalk.asmt
new file mode 100644
index 0000000..976729d
--- /dev/null
+++ b/testapp/smalltalk.asmt
@@ -0,0 +1,586 @@
+OndselSolver
+Assembly
+	Notes
+		(Text string: '' runs: (Core.RunArray runs: #() values: #()))
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