define the orientation of the actuators in simscape

I want to model two degree system in simscape with two actuators in each degree, as far as my understanding, there is no way to define the orientation of the actuators. In detail, the second dc motor in reality is mounted on a translational body which means that their translational movements should be the same (I am not sure how to configure this in simscape). Another question, is there a block for stiff rotating beam in simscape where you can define an orientation for it? Thanks.