Equation of motion for Simscape Block (e.g. Revolute Block)

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Jooo
Jooo am 18 Jun. 2020
Hello,
I'd like to identify the Equation of motion for my whole system. Therefore, I need the equations for each block in my Simscape model. Unfortunately I was unable to find the Block diagram / equations for the individual blocks. Can somebody help?
Or is there a smarter way to extract the equation of motion for my system?

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