Tymo,
You are doing a dynamics analysis, more precisely “forward dynamics”. In this case, the motion of the system is dictated by its initial state (positions and velocities) and the set of applied forces. Forward dynamics analysis calculates the accelerations (think Newton’s second law a = F/m) and then integrates to find the new velocity and position.
In the examples you show, gravity is the only applied force so, as expected, the body’s acceleration will end up being the gravitational acceleration.
The function SetPos_dtdt can be used for other types of analysis, for example inverse dynamics.
--Radu
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