Israr,
This is kind a late response but maybe it is still a question. The way you figure out the amount of force need it is to put a velocity or acceleration driver in the join and then use a measure to calculate the force exerted in the join by the driver. This force will be the force the hydraulic will need to due the motion prescribe by the driver. This is what is call a inverse dynamics analysis in which the motion is prescribe and the results of the analysis are use to calculate the forces necessary to drive the mechanism.
There is no way I believe to ad friction to the join if you are using any release prior to WFF 2.0. However, I read an email at which PCT is removing the friction functionality again from WFF 2.0 because is given wrong results. The only way to mimic friction without the functionality is to use a force as a function of a computed measure (computed measures only available in WFF 2.0) which will not be as numerical efficient as using the friction load provided with MDX.
Luis