Alpine123, in the case that Greg has brought up you could reduce the problem to 2D analysis in which case it would be rather simple matter to solve. As far as 3D analysis goes, it will get rather complex, and I've managed to make a model set up just about right, so that it required only few quadratic equations to be solved. But it is in no way a simple task- you'd have to get familiar with vector geometry, and in case you'd want kinematic and dynamic parameters, differential vector geometry as well. (the latter part is surprisingly easy, so to say- I've managed to do the model without having even laid my eyes upon textbook on the subject of any sort, or any kind of 'outside assistance')
Unfortunately, I hit a 'snag' with my model, and even more unfortunately got no help/response with it here, so it just (for the time being) faded from my interest. The thing is that I've encountered some discrepancies when cross-checking the results with commercial software and couldn't figure out how significant the extent of those discrepancies was.
If this is a non-commercial project you're working on, I'd probably be willing to lend you a hand on it. If it was commercial, I'd be less inclined to do so- but I'd still tell you that my 3D suspension model is in 'public domain' and point you in the direction where it was published.