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Simulating an assembly in SimMechanics 2nd Generation

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Hi,
I have successfully translated an assembly from Pro-E to SimMechanics ( 2nd Generation ). Its quite a huge component with several parts assembled together. So now each part has its own reference frame and connected to the world frame individually through a connecting port. Everything is clear till this point.
My question is how do i link two components together, I mean if i want to rotate a part with respect to the other part? Or is it easy if I use 1st generation??
Thanks a Lot!!
Best, Vish.

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