how can I make a beam tangent to a moving axis?

hello everyone,

I'm trying to model a system in simscape using the simMechanics blocks. The system im trying to model is: a ball bearing connected eccentrically to a motor axis. On that ball bearing lays a beam. The edge of the beam is connected to an axis. so, the system looks like this:

http://imgur.com/EyTlFzk

I managed to model all the elements, but I don't know how to keep the beam tangent to the ball bearing.

http://imgur.com/79x4u92

http://imgur.com/WEhPJQu

http://imgur.com/wzLGzIP

motor = blue, motor axis = cyan and purple Right now, when the motor axis move, the beam (orange) just pass through the ball bearing (green)

how can I "connect" the beam to the ball bearing?

Answer 1

[Nicolas Schmit]

1. Add a prismatic joint that has its z axis aligned with the beam.
2. Add a rigid transform that translate orthogonal to the beam. The translation distance is the radius of the bearing.
3. Add a revolute joint. Connect the follower of the revolute joint to the axis of the bearing.