Otter M. (1994):

Object-Oriented Modeling of Drive Trains with Friction, Clutches and Brakes. Proceedings ESM’94 European Simulation Multiconference, Barcelona, Spain, June 1.-3., pp. 335-340. download (ps.gz 60KB, 6 pages).

Drive trains are modeled in a "natural" way using the object-oriented modeling language Dymola. A drive train consists of shafts, rotors, gears and force elements like springs and dampers. Variable structure elements like bearing friction, clutches or brakes may be present. The number of operations in the generated code is O(n).