Hello, I want to simulate two rigid blocks attached to each other with a spring-damper hinge joint at one end and a piezoelectric chip actuator. The setup will be similar to a class 2 or class 3 lever. I think simulating the piezo actuator will be good using actuator/cylinder. If I assign the joint as the parent for a cylinder actuator, is the "gear" used to calculate the torque and position for the actuator model? If so, is are the following equations what I can assume to be a part of the model: torque = gear*force position = gear*angle where the initial joint angle is zero, and so the position variable is the same as the displacement at the point where I mount the piezo?