Constrained force and torque and outputs for friction torque are reported in the Motion Postprocessor. The definitions for constrained force and torque are the same as for Revolute Joint Output. The torques for the joint become zero because there are no constraint equations.

The definitions of outputs for friction torque are shown in the table below.

Figure 5.46: Definition of outputs for friction torque

Parameter	Symbol	Description	Dimension
Stiction Deformation		The stiction deformation is the relative displacement moved under the stiction range, and it is defined in Equation 5–8 of Friction in a Revolute Joint in the Motion Theory Reference.	Length
Relative Velocity		The relative velocity is determined by a sliding velocity at a contact point between contacted surfaces, and it is defined in Equation 5–4 of Friction in a Revolute Joint in the Motion Theory Reference.	Length/Time
Friction Coefficient		The friction coefficient is determined by the relative velocity and stiction deformation and defined in Equation 5–5, Equation 5–9, and Equation 5–10 of Friction in a Revolute Joint in the Motion Theory Reference.	N/A
Frictional Torque		Total frictional torque is defined in Equation 5–15.	Force*Length
Reaction Force		The radial reaction force is the constrained force applied to the action marker in the x-y plane of the base marker.	Force
Frictional Torque by Radial Reaction Force		The frictional torque by radial reaction force is defined in Equation 5–12.	Force*Length
Pretorque		Pretorque is used to represent a frictional torque by pre-load.	Force*Length
Frictional Torque by Pretorque		The frictional torque by Pretorque is defined in Equation 5–11.	Force*Length