The problem is a stiff Differential Algebraic Equation of index 3, consisting
of 8 differential and 2 algebraic equations. Since not all initial conditions
were given, we have chosen a consistent set of initial conditions.
It is an example of a rather simple multibody system, in which the behavior
of a car axis on a bumpy road is modeled by a set of differential-algebraic
A complete description of the problem could be found in