anchor.diff:  
      PRIVATE
      
  -   !............................
  -   ! NOTE: for debugging, add preprocessor definition SD_SUMMARY_DEBUG
  -   !       this will add additional matrices to the SubDyn summary file.
  -   !............................
      TYPE(ProgDesc), PARAMETER  :: SD_ProgDesc = ProgDesc( 'SubDyn', '', '' )
         
      ! ..... Public Subroutines ...................................................................................................
  
positive.code:       CALL GetExtForceOnInternalDOF(u, p, x, m, m%F_L, ErrStat2, ErrMsg2, ExtraMoment=(p%ExtraMoment.and..not.p%Floating), RotateLoads=(p%ExtraMoment.and.p%Floating))
  
        udotdot_TP = (/u%TPMesh%TranslationAcc(:,1), u%TPMesh%RotationAcc(:,1)/)
        !if (p%Floating) then
        !   ! >>> Rotate All - udotdot_TP to body coordinates
        !   udotdot_TP(1:3) = matmul( u%TPMesh%Orientation(:,:,1), udotdot_TP(1:3) ) 
        !   udotdot_TP(4:6) = matmul( u%TPMesh%Orientation(:,:,1), udotdot_TP(4:6) ) 
        !endif
        
        ! State equation
        dxdt%qm= x%qmdot
  
negative.code: 
     if (ExtraMoment) then
        ! Compute node displacements "DU_full" for lever arm
        call LeverArm(u, p, x, m, m%DU_full, bGuyan=.True., bElastic=.False., U_full=U_full)
     endif
  
     ! --- Build vector of external forces (including gravity) (Moment done below)  
  