A Cylindrical Joint allows both relative rotation as well as relative translation of one body with respect to another body in the z-axis direction of the base marker. The z-axis of the base marker must be parallel to the z-axis of the action marker and must pass through the position of both joint markers. A Cylindrical Joint restricts two translational and rotational DOFs. Translational and rotational motion can be applied to impose relative movement in the free translational and rotational DOFs.