It figures out the necessary kinetic and kinematical equations to solve given a model file.  These are the Lagrange Euler equations for a multibody system  with algebraic constraints. The latter depends on the requirement of the model (i.e. mechanical closed loop ).

It computes the motion parameters associated with each body over each integration step. These include the angular and translational position and velocity of member bodies relative to neighbors and to the inertial frame.

It issues motion data over each integration step such as position and rate data to the control module which returns hinge torque and forces to actuate the plant dynamics .                                                                                                                            

It outputs user selected data (i.e. kinematic, force, marker motion data, system angular momentum etc...) to a plot data file at user specified sample rate . It also generates a list of .m files to view the simulation results using Matlab with ease..