To determine the motion that occurs when torques and forces are applied to inertias and masses,Simscape Drivelineuses component connections and defining equations. However, a simulation can also accept motions imposed on a driveline and solve for the torques and forces to produce those motions. In general, a driveline simulation is a mixture of these two requirements, solving dynamics that are both forward (torque- and force-to-motion) and inverse (motion-to-torque and to-force). Imposed motions and applied torques and forces are forms of mechanicalactuation.