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This file uses a simple mechanism with 2 commands to simulate a contact component.  This example shows a push button mechanism.  The finger moves towards the button and when they contact both the finger and button move in unison.

File created using DMU kinematics to replicate the movement of a pinion and spur gear with a chain. The mechanism was created with 2 commands and the commands linked using a law to drive the chain.

****  Updated with chain links.... 

Simple scotch yoke kinematic mechanism.

The mechanism is built from 3 joints.  Planar, revolute and point on curve.