However, i would like to have dynamic equations from the model expressed as a DAE because the choice of coordinates have been "absolute coordinates".
In fact, i would like to have in a symbolic form the DAE equations which are for the planar pendulum theses equations :
Similary to your method, I try to use commands for dynamics : GetDynEQs() or GetSysEQs(). But, with these commands, it seems that no option like with "GetFrameMotion" exist to ask to have the result with "absolute coordinates". So, i'm afraid that maybe it isn't so easy to obtain the dynamic equations with "absolute coordinates". It's a pity because many books dealing with "Multibody dynamics" used absolute coordinates in their formalism.
Thank you for your help.