I would like to identify a good multibody dynamics software that can (1) analyze both normal and inverse dynamics, as well as (2) be able to model pairs of belt-driven pulleys that can simultaneously rotate and slide along a defined path. I have tried Matlab Simscape but it has not been up to the task. ADAMS seems promising but it is far too expensive to be practical for this project.

I would prefer an object-based method that is open-source or at least low-cost, if such a package exists. I need to be able to legally use the software for academic research and to be able to publish the results. The objects I need to model are simple MSD systems and belt-pulley systems connected together and excited via a torque input on one of the pulleys. One of the requirements for my project is that the system model (which my group has built) must be simulated all at once and not broken or decomposed in any way.

Advice and help would be appreciated.