JointMethod is a good idea, but it should be independent of System.
Going by the similarity, JointMethod should be completely symbolic, like Kanes/Langranges.
Also System should be able to generate visualizations, because that was the motive it was created in the first place:
1. generate eoms
2. integrate numerically
3. generate visualizations
the first part of it (generate eoms) can be refractored to include JointMethod.
Rest all should work as same (ideally).
Thanks
Tarun Gaba
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