Hi,
You can model such physical domain systems via the Simscape product which is available from within Simulink.
To get started just create a new Simulink model, double click on the blank canvas to get the library browser and search for any relevant component like “Inertia” and the Inertia block should pop up. Similarly you can add any other blocks relevant to your domain like a “Mechanical Reference” or a “Spring”, etc.
If you want to learn the Simscape product features in a more in-depth but still brief and beginner friendly manner, I’ll highly recommend the free Simscape On-Ramp course provided in the link below:
You can also refer to the below link to navigate to Simscape documentation:
