anchor.diff:           ! --- Guyan (rigid body) motion in global coordinates
            rIP0(1:3)   = p%DP0(1:3, iSDNode)
            rIP(1:3)    = matmul(Rb2g, rIP0)
  -         duP(1:3)    = rIP - rIP0 + m%u_TP(1:3)
  +         duP(1:3)    = rIP - rIP0 ! NOTE: without m%u_TP(1:3)
            !U_full(DOFList(1:3)) = U_full(DOFList(1:3)) + duP(1:3)       
            ! >>> New
  -         U_full(DOFList(1:3)) = matmul(Rb2g, U_full(DOFList(1:3))) + duP(1:3)       
  -         U_full(DOFList(4:6)) = matmul(Rb2g, U_full(DOFList(4:6))) + rotations(1:3)
  +         DU_full(DOFList(1:3)) = matmul(Rb2g, DU_full(DOFList(1:3))) + duP(1:3)       
  +         DU_full(DOFList(4:6)) = matmul(Rb2g, DU_full(DOFList(4:6))) + rotations(1:3)
         enddo
      endif 
  -END SUBROUTINE Displacements
  +END SUBROUTINE LeverArm
   
   !------------------------------------------------------------------------------------------------------
   !> Construct force vector on internal DOF (L) from the values on the input mesh 
  
positive.code: 
     if (ExtraMoment) then
        ! Compute node displacements for lever arm
        call Displacements(u, p, x, m, m%DU_full, bGuyan=.True., bElastic=.False.)
        if (p%Floating) then ! remove u_TP
           do iNode = 1,p%nNodes
              m%DU_full(p%NodesDOF(iNode)%List(1:3)) =m%DU_full(p%NodesDOF(iNode)%List(1:3)) - m%u_TP(1:3)
           enddo
        endif
     endif
  
     ! --- Build vector of external forces (including gravity) (Moment done below)  
  
negative.code:       Y1_Utp  = - (matmul(p%KBB, m%u_TP) + matmul(p%CBB, m%udot_TP) + matmul(p%MBB, m%udotdot_TP) )
        if (p%nDOFM>0) then
           !>>> New
           ! NOTE: this introduces some hysteresis
           !if (p%Floating) then
           !   udotdot_TP(1:3) = matmul(Rg2b, u%TPMesh%TranslationAcc( :,1))
           !   udotdot_TP(4:6) = matmul(Rg2b, u%TPMesh%RotationAcc(:,1)    )
           !   Y1_Utp  = Y1_Utp + matmul(RRb2g, matmul(p%MBmmB, udotdot_TP))  
           !else
              Y1_Utp  = Y1_Utp + matmul(p%MBmmB, m%udotdot_TP)  
           !endif
        endif
        if ( p%nDOFM > 0) then
           Y1_CB = -( matmul(p%C1_11, x%qm) + matmul(p%C1_12, x%qmdot) )
           if (p%Floating) then
              Y1_CB = matmul(RRb2g, Y1_CB) !>>> New 
           endif
        else
           Y1_CB = 0.0_ReKi
        endif
  