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Could someone please explain about Body coordinate systems of SimMechanics library in Simulink ?

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I'm confusing about three parameters in Position Tab in Body dialog box. As you can see in enclosed image:
  • + In blue box, Orgin Position vector[x y z], Is it's value absolute or relative ? If relative, which coordinate system is it relative to ?
  • + In yellow box, what does mean of "Translation from orgin of": World, Adjoining, CSs
  • + In green box, what does mean of "Components in axes of": World, Adjoining, CSs
I'm confusing what is different between "Translation from orgin of" and "Components in axes of". Please help me. I really appriciate to it ! Sorry about my english.

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