Time Step

Translational Stiffness Time Step

Δ t translational_stifness = mass.max(Kt)+ C t 2 C t max( K t )

Where,
max ( K t )
Maximum translational stiffness
C t
Translational damping

Rotational Stiffness Time Step

Δ t rotational_stifness = inertia. K r ' +C ' r 2 C ' r K r '

K r ' is the equivalent rotational stiffness: K r ' = max ( K t ) . L 2 + max ( K r )

Where,
max ( K t )
Maximum translational stiffness
max ( K r )
Maximum rotational stiffness
C ' r
Equivalent rotational damping: C r ' = max ( C t ) . L 2 + max ( C r )
Where,
max ( C t )
Maximum translational damping
max ( C r )
Maximum rotational damping