ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_desc.tex
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_desc.tex
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_desc.tex
@@ -0,0 +1,32 @@
+% Verbal description for system twolinkxyn (twolinkxyn_desc.tex)
+% Generated by MTT on Fri Jun 13 16:30:23 BST 1997.
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% Revision 1.1  1997/08/15  13:31:00  peterg
+% Initial revision
+%
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+   The acausal bond graph of system \textbf{twolinkxyn} is
+   displayed in Figure \Ref{twolinkxyn_abg} and its label
+   file is listed in Section \Ref{sec:twolinkxyn_lbl}.
+   The subsystems are listed in Section \Ref{sec:twolinkxyn_sub}.
+
+This system is identical to  \textbf{twolink} except that there are
+now two non-collocated input-output pairs: The torque input to joint 1
+-- x velocity of the tip and the torque input to joint 2
+-- y velocity of the tip. 
+
+It uses two compound components: {\bf ROD} and {\bf GRAV}.  {\bf ROD}
+is essentially as described in Figure 10.2 of "Metamodelling" and {\bf
+GRAV} represents gravity by a vertical acceleration as in Section
+10.9 of "Metamodelling"
+
+%%% Local Variables: 
+%%% mode: plain-tex
+%%% TeX-master: t
+%%% End: 

ADDED   mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_lbl.txt
Index: mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_lbl.txt
==================================================================
--- /dev/null
+++ mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/TwoLinkxyn/TwoLinkxyn_lbl.txt
@@ -0,0 +1,51 @@
+%SUMMARY twolinkxyn: two-link manipulator with collocated tip source-sensors.
+%DESCRIPTION This is related to a heirachical version of the 
+%DESCRIPTION example from Section 10.5 of "Metamodelling".
+%DESCRIPTION It uses two compound components: ROD and GRA
+%DESCRIPTION ROD is essentially as described in Figure 10.2
+%DESCRIPTION GRAV represents gravity by a vertical accelleration
+%DESCRIPTION as in Section 10.9 of "Metamodelling"
+%DESCRIPTION except that the source sensors are not collocated:
+%DESCRIPTION sources at the joints, sensors at the xy motion of the tip.
+
+%% Label (twolinkxyn_lbl.txt)
+
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% Version control history
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+% %% $Id$
+% %% $Log$
+% %% Revision 1.1  1998/01/06  15:56:31  peterg
+% %% Initial revision
+% %%
+% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+%% Each line should be of one of the following forms:
+%	a comment (ie starting with %)
+%	Component-name	CR_name	arg1,arg2,..argn
+%	blank
+
+%Rod parameters - identical rods
+rod1	none	l;l;j;m;mg
+rod2	none	l;l;j;m;mg
+
+%Zero velocity sources
+v_x	internal	0
+
+
+%Zero force/torque sources
+F_a	0	internal
+
+
+%Torque at joints
+f_a1	external	internal
+f_a2	external	internal
+
+%Forces at tip
+F_x	0		external
+F_y	0		external
+
+
+%Gravity
+g
+