A Revolute Joint allows the rotation of one body with respect to another body relative to the z-axis of the base marker. The rotational axis must be parallel to the z-axes of the base and action markers and must pass through the position of the joint markers. A Revolute Joint restricts three translational DOFs and two rotational DOFs. Motion or initial conditions can be applied to impose a relative movement on the free rotational DOF. A friction torque can also be added to the joint.