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How do I create tangent forces on two pulleys instead of using ADAMS machinery?

asheshshrestha
Say I have two arms with a revolute joint in between them. At the end of two arms are two pulleys which has a belt.
 
Is it possible to create a tangent action and reaction force at each pulley (no slip) so that there is no need to create belt/chain and all complex calculations that come with it. Can it be modeled without using ADAMS machinery?
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    > For A_to_B, use a orientation_in_plane function and point the Z-axis to B_to_A, and the Z_axis to A_center. Do the same thing for B_to_A, but point the Z_axis to A_to_B and x_axis to B_center. So the functions should be:
     
    You mean x right?
     
    > Now you need to lock it up for the solver.
    Bit not sure what to do here.
     
     
    > Now create a inline jprim using the i_marker=B_to_A and j_marker=A_to_B and another inline jprim with the markers reversed. This forces the A_to_B to always be positioned along the z-axis of the B_to_A and the B_to_A will in the same way be located along the Z-axis of A_to_B. In other words, they are pointing towards each other.
    I did create a jprim but it creates its own new i and j markers which are facing in Y direction rather than A_to_B and B_to_A.
     
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    > For A_to_B, use a orientation_in_plane function and point the Z-axis to B_to_A, and the Z_axis to A_center. Do the same thing for B_to_A, but point the Z_axis to A_to_B and x_axis to B_center. So the functions should be:
     
    You mean x right?
     
    > Now you need to lock it up for the solver.
    Bit not sure what to do here.
     
     
    > Now create a inline jprim using the i_marker=B_to_A and j_marker=A_to_B and another inline jprim with the markers reversed. This forces the A_to_B to always be positioned along the z-axis of the B_to_A and the B_to_A will in the same way be located along the Z-axis of A_to_B. In other words, they are pointing towards each other.
    I did create a jprim but it creates its own new i and j markers which are facing in Y direction rather than A_to_B and B_to_A.
     
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