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How do I attach blocks from the foundational library of simulink to the multibody blocks of simulink?

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How do I attach blocks from the foundational library of simulink to the multibody blocks of simulink? I just need to model a multi-body system with linear motion actuated by an ideal translational veloctiy source. I need to be able to visualize it on the simulator. It seems so unintuitive that there is no direct way to do that.

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