Hello Colleagues

I will try to simplify my question

Assume we have a simple drivetrain. Latter consist of two gears connected to two shafts (gears are linked with the shafts by fixed joints, shafts are connected with the ground with revolute joints)



The drivetrain rotates backwards (assume CCW) with certain amount of angular acceleration and moment, until a countering torque is applied (hence CW).

how to model that and extract impact forces ?

thanx in advance and kind regards