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We present the RPI-MATLAB-Simulator (RPIsim) as an open source tool for research and education in multibody dynamics. RPIsim is designed and organized to be extended. Its modular design allows users to edit or add new components without worrying about extra implementation details. RPIsim has two main goals: 1. Provide an intuitive and easily extendable platform for research and education in multibody dynamics; 2. Maintain an evolving code base of useful algorithms and analysis tools fordoi:10.2312/pe.vriphys.vriphys13.071-080 dblp:conf/vriphys/WilliamsLNAET13 fatcat:7255hxetvjhvbjylzwzfm5raxe