Hello!
To help you, I would offer a common definition to bond a solution;
"The Newton–Euler equations are used as the basis for more complicated "multi-body" formulations (screw theory) that describe the dynamics of systems of rigid bodies connected by joints and other constraints. Multi-body problems can be solved by a variety of numerical algorithms."
Having quoted that, more information would be needed; specifically, a mechanical free body diagram.
Equations, in this context, will need dimensional anaylsis with forces specifically attached to the
mechanisim, preferably presented in a CAD PDF document.
Simplified, Your forces encapsulated in a systems of equations format, before precision can be resolved.
Good Luck!
