Rotational.support

[AHaumer]

All elements with Rotational.support are wrong or at least misleading;
consider friction: fine that the friction torque appears at the support,
but the relative angular velocity which defines friction torque is NOT the absolute angular velocity of the shaft BUT the relative angular velocity of the shaft against the support! We may discuss the sources (like position, whether we want to define an absolute position or the position against support - which would be much easier to understand!)
Translational (in MSL 2.2.1) is not affected since we have no support.

[AHaumer]

The elements are ok since they extend from PartialGear which defines the relative angles against support in the right way.
Also the SpeedDependent sources are wrongok since the relative velocity against support is defined in PartailSpeedDependentSource.
We should discuss the other sources (e.g. whether position, velocity or acceleration should be defined absolute or relative against the support).

[AHaumer]

It seems to be overkill to change the behaviour of sources in MSL 2.2.1

[AHaumer]

fixed by r849
defined movement of flange relative to support for Position, Speed, Accelerate, Move

[AHaumer]

changed back to absolute movement (r861) since this is backwards compatible and compliant with the documentation.