Please let me know how to model a spring that connects two rigid bodies. I 
am modeling a system of two rigid bodies connected by a torsion spring with 
damping, and trying to get equations of motion using LagrangesMethod(.). 
This system is free flying. 

I know I can assign the potential energy to a Particle object. But in my 
case above, I don't know how to divide the energy stored in a spring to the 
two bodies.

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