diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.C
new file mode 100644
index 0000000000000000000000000000000000000000..792f265c2dedaaabce74bcf269de92c7a805a735
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.C
@@ -0,0 +1,113 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2013 OpenFOAM Foundation
+ \\/ M anipulation |
+-------------------------------------------------------------------------------
+License
+ This file is part of OpenFOAM.
+
+ OpenFOAM is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "linearDamper.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+ defineTypeNameAndDebug(linearDamper, 0);
+
+ addToRunTimeSelectionTable
+ (
+ sixDoFRigidBodyMotionRestraint,
+ linearDamper,
+ dictionary
+ );
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::linearDamper::linearDamper
+(
+ const word& name,
+ const dictionary& sDoFRBMRDict
+)
+:
+ sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
+ coeff_()
+{
+ read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::linearDamper::~linearDamper()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
+
+void Foam::sixDoFRigidBodyMotionRestraints::linearDamper::restrain
+(
+ const sixDoFRigidBodyMotion& motion,
+ vector& restraintPosition,
+ vector& restraintForce,
+ vector& restraintMoment
+) const
+{
+ restraintForce = -coeff_*motion.v();
+ restraintMoment = vector::zero;
+
+ if (motion.report())
+ {
+ Info<< " force " << restraintForce
+ << endl;
+ }
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::linearDamper::read
+(
+ const dictionary& sDoFRBMRDict
+)
+{
+ sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
+
+ sDoFRBMRCoeffs_.lookup("coeff") >> coeff_;
+
+ return true;
+}
+
+
+void Foam::sixDoFRigidBodyMotionRestraints::linearDamper::write
+(
+ Ostream& os
+) const
+{
+ os.writeKeyword("coeff")
+ << coeff_ << token::END_STATEMENT << nl;
+}
+
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.H
new file mode 100644
index 0000000000000000000000000000000000000000..0e991363fcef5e5faec7b09ad49ace028a123076
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.H
@@ -0,0 +1,121 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2011-2013 OpenFOAM Foundation
+ \\/ M anipulation |
+-------------------------------------------------------------------------------
+License
+ This file is part of OpenFOAM.
+
+ OpenFOAM is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
+
+Class
+ Foam::sixDoFRigidBodyMotionRestraints::linearDamper
+
+Description
+ sixDoFRigidBodyMotionRestraints model. Linear spring.
+
+SourceFiles
+ linearDamper.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef linearDamper_H
+#define linearDamper_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+#include "point.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+ Class linearDamper Declaration
+\*---------------------------------------------------------------------------*/
+
+class linearDamper
+:
+ public sixDoFRigidBodyMotionRestraint
+{
+ // Private data
+
+ //- Damping coefficient (Ns/m)
+ scalar coeff_;
+
+
+public:
+
+ //- Runtime type information
+ TypeName("linearDamper");
+
+
+ // Constructors
+
+ //- Construct from components
+ linearDamper
+ (
+ const word& name,
+ const dictionary& sDoFRBMRDict
+ );
+
+ //- Construct and return a clone
+ virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+ {
+ return autoPtr<sixDoFRigidBodyMotionRestraint>
+ (
+ new linearDamper(*this)
+ );
+ }
+
+
+ //- Destructor
+ virtual ~linearDamper();
+
+
+ // Member Functions
+
+ //- Calculate the restraint position, force and moment.
+ // Global reference frame vectors.
+ virtual void restrain
+ (
+ const sixDoFRigidBodyMotion& motion,
+ vector& restraintPosition,
+ vector& restraintForce,
+ vector& restraintMoment
+ ) const;
+
+ //- Update properties from given dictionary
+ virtual bool read(const dictionary& sDoFRBMRCoeff);
+
+ //- Write
+ virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.C
new file mode 100644
index 0000000000000000000000000000000000000000..fe5481689fd55aca58887295d8ac515c5bccf081
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.C
@@ -0,0 +1,114 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2013 OpenFOAM Foundation
+ \\/ M anipulation |
+-------------------------------------------------------------------------------
+License
+ This file is part of OpenFOAM.
+
+ OpenFOAM is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "sphericalAngularDamper.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+ defineTypeNameAndDebug(sphericalAngularDamper, 0);
+
+ addToRunTimeSelectionTable
+ (
+ sixDoFRigidBodyMotionRestraint,
+ sphericalAngularDamper,
+ dictionary
+ );
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::
+sphericalAngularDamper
+(
+ const word& name,
+ const dictionary& sDoFRBMRDict
+)
+:
+ sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
+ coeff_()
+{
+ read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::
+~sphericalAngularDamper()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions * * * * * * * * * * * * * * //
+
+void Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::restrain
+(
+ const sixDoFRigidBodyMotion& motion,
+ vector& restraintPosition,
+ vector& restraintForce,
+ vector& restraintMoment
+) const
+{
+ restraintMoment = -coeff_*motion.omega();
+ restraintForce = vector::zero;
+
+ if (motion.report())
+ {
+ Info<< " moment " << restraintMoment
+ << endl;
+ }
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::read
+(
+ const dictionary& sDoFRBMRDict
+)
+{
+ sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
+
+ sDoFRBMRCoeffs_.lookup("coeff") >> coeff_;
+
+ return true;
+}
+
+
+void Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::write
+(
+ Ostream& os
+) const
+{
+ os.writeKeyword("coeff") << coeff_ << token::END_STATEMENT << nl;
+}
+
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.H
new file mode 100644
index 0000000000000000000000000000000000000000..d917ae7d916ff0f205e5f769f4f063cb349b4312
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.H
@@ -0,0 +1,120 @@
+/*---------------------------------------------------------------------------*\
+ ========= |
+ \\ / F ield | OpenFOAM: The Open Source CFD Toolbox
+ \\ / O peration |
+ \\ / A nd | Copyright (C) 2013 OpenFOAM Foundation
+ \\/ M anipulation |
+-------------------------------------------------------------------------------
+License
+ This file is part of OpenFOAM.
+
+ OpenFOAM is free software: you can redistribute it and/or modify it
+ under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+ ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+ FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with OpenFOAM. If not, see <http://www.gnu.org/licenses/>.
+
+Class
+ Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper
+
+Description
+ sixDoFRigidBodyMotionRestraints model. Spherical angular damper.
+
+SourceFiles
+ sphericalAngularDamper.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sphericalAngularDamper_H
+#define sphericalAngularDamper_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+ Class sphericalAngularDamper Declaration
+\*---------------------------------------------------------------------------*/
+
+class sphericalAngularDamper
+:
+ public sixDoFRigidBodyMotionRestraint
+{
+ // Private data
+
+ //- Damping coefficient (Nms/rad)
+ scalar coeff_;
+
+
+public:
+
+ //- Runtime type information
+ TypeName("sphericalAngularDamper");
+
+
+ // Constructors
+
+ //- Construct from components
+ sphericalAngularDamper
+ (
+ const word& name,
+ const dictionary& sDoFRBMRDict
+ );
+
+ //- Construct and return a clone
+ virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+ {
+ return autoPtr<sixDoFRigidBodyMotionRestraint>
+ (
+ new sphericalAngularDamper(*this)
+ );
+ }
+
+
+ //- Destructor
+ virtual ~sphericalAngularDamper();
+
+
+ // Member Functions
+
+ //- Calculate the restraint position, force and moment.
+ // Global reference frame vectors.
+ virtual void restrain
+ (
+ const sixDoFRigidBodyMotion& motion,
+ vector& restraintPosition,
+ vector& restraintForce,
+ vector& restraintMoment
+ ) const;
+
+ //- Update properties from given dictionary
+ virtual bool read(const dictionary& sDoFRBMRCoeff);
+
+ //- Write
+ virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //