diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.C
new file mode 100644
index 0000000000..792f265c2d
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.C
@@ -0,0 +1,113 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2013 OpenFOAM Foundation
+     \\/     M anipulation  |
+-------------------------------------------------------------------------------
+License
+    This file is part of OpenFOAM.
+
+    OpenFOAM is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+    for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "linearDamper.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+    defineTypeNameAndDebug(linearDamper, 0);
+
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionRestraint,
+        linearDamper,
+        dictionary
+    );
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::linearDamper::linearDamper
+(
+    const word& name,
+    const dictionary& sDoFRBMRDict
+)
+:
+    sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
+    coeff_()
+{
+    read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::linearDamper::~linearDamper()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::sixDoFRigidBodyMotionRestraints::linearDamper::restrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    vector& restraintPosition,
+    vector& restraintForce,
+    vector& restraintMoment
+) const
+{
+    restraintForce = -coeff_*motion.v();
+    restraintMoment = vector::zero;
+
+    if (motion.report())
+    {
+        Info<< " force " << restraintForce
+            << endl;
+    }
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::linearDamper::read
+(
+    const dictionary& sDoFRBMRDict
+)
+{
+    sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
+
+    sDoFRBMRCoeffs_.lookup("coeff") >> coeff_;
+
+    return true;
+}
+
+
+void Foam::sixDoFRigidBodyMotionRestraints::linearDamper::write
+(
+    Ostream& os
+) const
+{
+    os.writeKeyword("coeff")
+        << coeff_ << token::END_STATEMENT << nl;
+}
+
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.H
new file mode 100644
index 0000000000..0e991363fc
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/linearDamper/linearDamper.H
@@ -0,0 +1,121 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2011-2013 OpenFOAM Foundation
+     \\/     M anipulation  |
+-------------------------------------------------------------------------------
+License
+    This file is part of OpenFOAM.
+
+    OpenFOAM is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+    for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
+
+Class
+    Foam::sixDoFRigidBodyMotionRestraints::linearDamper
+
+Description
+    sixDoFRigidBodyMotionRestraints model.  Linear spring.
+
+SourceFiles
+    linearDamper.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef linearDamper_H
+#define linearDamper_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+#include "point.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+                          Class linearDamper Declaration
+\*---------------------------------------------------------------------------*/
+
+class linearDamper
+:
+    public sixDoFRigidBodyMotionRestraint
+{
+    // Private data
+
+        //- Damping coefficient (Ns/m)
+        scalar coeff_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("linearDamper");
+
+
+    // Constructors
+
+        //- Construct from components
+        linearDamper
+        (
+            const word& name,
+            const dictionary& sDoFRBMRDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionRestraint>
+            (
+                new linearDamper(*this)
+            );
+        }
+
+
+    //- Destructor
+    virtual ~linearDamper();
+
+
+    // Member Functions
+
+        //- Calculate the restraint position, force and moment.
+        //  Global reference frame vectors.
+        virtual void restrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            vector& restraintPosition,
+            vector& restraintForce,
+            vector& restraintMoment
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMRCoeff);
+
+        //- Write
+        virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.C b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.C
new file mode 100644
index 0000000000..fe5481689f
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.C
@@ -0,0 +1,114 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2013 OpenFOAM Foundation
+     \\/     M anipulation  |
+-------------------------------------------------------------------------------
+License
+    This file is part of OpenFOAM.
+
+    OpenFOAM is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+    for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
+
+\*---------------------------------------------------------------------------*/
+
+#include "sphericalAngularDamper.H"
+#include "addToRunTimeSelectionTable.H"
+#include "sixDoFRigidBodyMotion.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace sixDoFRigidBodyMotionRestraints
+{
+    defineTypeNameAndDebug(sphericalAngularDamper, 0);
+
+    addToRunTimeSelectionTable
+    (
+        sixDoFRigidBodyMotionRestraint,
+        sphericalAngularDamper,
+        dictionary
+    );
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::
+sphericalAngularDamper
+(
+    const word& name,
+    const dictionary& sDoFRBMRDict
+)
+:
+    sixDoFRigidBodyMotionRestraint(name, sDoFRBMRDict),
+    coeff_()
+{
+    read(sDoFRBMRDict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructors * * * * * * * * * * * * * * * //
+
+Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::
+~sphericalAngularDamper()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+void Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::restrain
+(
+    const sixDoFRigidBodyMotion& motion,
+    vector& restraintPosition,
+    vector& restraintForce,
+    vector& restraintMoment
+) const
+{
+    restraintMoment = -coeff_*motion.omega();
+    restraintForce = vector::zero;
+
+    if (motion.report())
+    {
+        Info<< " moment " << restraintMoment
+            << endl;
+    }
+}
+
+
+bool Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::read
+(
+    const dictionary& sDoFRBMRDict
+)
+{
+    sixDoFRigidBodyMotionRestraint::read(sDoFRBMRDict);
+
+    sDoFRBMRCoeffs_.lookup("coeff") >> coeff_;
+
+    return true;
+}
+
+
+void Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper::write
+(
+    Ostream& os
+) const
+{
+    os.writeKeyword("coeff") << coeff_ << token::END_STATEMENT << nl;
+}
+
+
+// ************************************************************************* //
diff --git a/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.H b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.H
new file mode 100644
index 0000000000..d917ae7d91
--- /dev/null
+++ b/src/sixDoFRigidBodyMotion/sixDoFRigidBodyMotion/restraints/sphericalAngularDamper/sphericalAngularDamper.H
@@ -0,0 +1,120 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2013 OpenFOAM Foundation
+     \\/     M anipulation  |
+-------------------------------------------------------------------------------
+License
+    This file is part of OpenFOAM.
+
+    OpenFOAM is free software: you can redistribute it and/or modify it
+    under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    OpenFOAM is distributed in the hope that it will be useful, but WITHOUT
+    ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
+    FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
+    for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with OpenFOAM.  If not, see <http://www.gnu.org/licenses/>.
+
+Class
+    Foam::sixDoFRigidBodyMotionRestraints::sphericalAngularDamper
+
+Description
+    sixDoFRigidBodyMotionRestraints model.  Spherical angular damper.
+
+SourceFiles
+    sphericalAngularDamper.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sphericalAngularDamper_H
+#define sphericalAngularDamper_H
+
+#include "sixDoFRigidBodyMotionRestraint.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+
+namespace sixDoFRigidBodyMotionRestraints
+{
+
+/*---------------------------------------------------------------------------*\
+                   Class sphericalAngularDamper Declaration
+\*---------------------------------------------------------------------------*/
+
+class sphericalAngularDamper
+:
+    public sixDoFRigidBodyMotionRestraint
+{
+    // Private data
+
+        //- Damping coefficient (Nms/rad)
+        scalar coeff_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("sphericalAngularDamper");
+
+
+    // Constructors
+
+        //- Construct from components
+        sphericalAngularDamper
+        (
+            const word& name,
+            const dictionary& sDoFRBMRDict
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<sixDoFRigidBodyMotionRestraint> clone() const
+        {
+            return autoPtr<sixDoFRigidBodyMotionRestraint>
+            (
+                new sphericalAngularDamper(*this)
+            );
+        }
+
+
+    //- Destructor
+    virtual ~sphericalAngularDamper();
+
+
+    // Member Functions
+
+        //- Calculate the restraint position, force and moment.
+        //  Global reference frame vectors.
+        virtual void restrain
+        (
+            const sixDoFRigidBodyMotion& motion,
+            vector& restraintPosition,
+            vector& restraintForce,
+            vector& restraintMoment
+        ) const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& sDoFRBMRCoeff);
+
+        //- Write
+        virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace solidBodyMotionFunctions
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //