*HEADING
 BASIC VERIFICATION - KINEMATIC COUPLING
 EQUIVALENT TO UNIVERSAL MPC TYPE
*NODE
10,0.0,0.0,0.0
20,2.0,0.0,0.0
1,1.0,0.0,0.0
2,1.0,0.0,0.0
105,1.0,0.0,1.0 
*ELEMENT, TYPE=MASS, ELSET=MASS
100,10
*ELEMENT, TYPE=ROTARYI, ELSET=ROTARY
101,10
*MASS, ELSET=MASS
.1,
*ROTARY INERTIA, ELSET=ROTARY
.1,.1,.1
*ELEMENT,TYPE=B31,ELSET=A
2,2,20
*ORIENTATION, NAME=RELEASE_AXIS
0.,1.,0.,0.,0.,1.
*NSET, NSET=NREFNODE
 10
*SURFACE, NAME=SURF, TYPE=NODE
 2,
*COUPLING, CONSTRAINT NAME=UNIVERSAL, REF NODE=NREFNODE, SURFACE=SURF, ORIENTATION=RELEASE_AXIS
*KINEMATIC
 1, 3
 6, 6
*BEAM SECTION,SECT=CIRC,MATERIAL=MAT,ELSET=A
0.1, 
*MATERIAL,NAME=MAT
*ELASTIC
200.0E9,0.0
*DENSITY
7800.,
*BOUNDARY
10,1,6
*NSET, NSET=OUT
2,10,
*NSET, NSET=QA_TEST_ALLNODES
1,2,10,20,105
*AMPLITUDE, NAME=AMP,DEFINITION=SMOOTH STEP
0.0,0.0,1.0,1.0
*STEP
 PULL ON THE JOINT
*DYNAMIC, EXPLICIT, DIRECT
1.E-5,1.0 
*CLOAD,AMPLITUDE=AMP
20,1,1.0E6
*OUTPUT,FIELD,NUMBER=4,TIMEMARKS=YES
*NODE OUTPUT, NSET=QA_TEST_ALLNODES
U,
***OUTPUT, HISTORY,FREQ=1
****NODE OUTPUT, NSET=OUT
***U,V,A
*END STEP
*STEP
  TWIST THE REFERENCE NODE AND THE REVOLUTE
  AXIS 90 DEGREES ABOUT X
*DYNAMIC, EXPLICIT, DIRECT
1.E-5,1.0 
*BOUNDARY,AMPLITUDE=AMP
10,4,4, 1.5707963
*END STEP
*STEP
  TWIST THE REFERENCE NODE 45 DEGREES ABOUT Z
*DYNAMIC, EXPLICIT, DIRECT
1.E-5,1.0 
*BOUNDARY,AMPLITUDE=AMP
10,6,6, 0.785398164
*BOUNDARY,TYPE=VELOCITY
10,4,4,0.0
*END STEP