diff --git a/src/rigidBodyDynamics/Make/files b/src/rigidBodyDynamics/Make/files
index b07f5e8c81..5323037c3a 100644
--- a/src/rigidBodyDynamics/Make/files
+++ b/src/rigidBodyDynamics/Make/files
@@ -30,6 +30,7 @@ restraints/restraint/rigidBodyRestraintNew.C
 restraints/linearSpring/linearSpring.C
 restraints/linearDamper/linearDamper.C
 restraints/linearAxialAngularSpring/linearAxialAngularSpring.C
+restraints/sphericalAngularDamper/sphericalAngularDamper.C
 
 rigidBodyModel/rigidBodyModel.C
 rigidBodyModel/forwardDynamics.C
diff --git a/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H b/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H
index 412e21976a..2f93637cb7 100644
--- a/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H
+++ b/src/rigidBodyDynamics/restraints/linearAxialAngularSpring/linearAxialAngularSpring.H
@@ -62,10 +62,10 @@ class linearAxialAngularSpring
         //- Global unit axis around which the motion is sprung
         vector axis_;
 
-        //- Spring stiffness coefficient (Nm/rad)
+        //- Spring stiffness coefficient [Nm/rad]
         scalar stiffness_;
 
-        //- Damping coefficient (Nms/rad)
+        //- Damping coefficient [Nms/rad]
         scalar damping_;
 
 
diff --git a/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.C b/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.C
new file mode 100644
index 0000000000..ddd96acf31
--- /dev/null
+++ b/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.C
@@ -0,0 +1,114 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2016 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 "rigidBodyModel.H"
+#include "addToRunTimeSelectionTable.H"
+
+// * * * * * * * * * * * * * * Static Data Members * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+namespace restraints
+{
+    defineTypeNameAndDebug(sphericalAngularDamper, 0);
+
+    addToRunTimeSelectionTable
+    (
+        restraint,
+        sphericalAngularDamper,
+        dictionary
+    );
+}
+}
+}
+
+
+// * * * * * * * * * * * * * * * * Constructors  * * * * * * * * * * * * * * //
+
+Foam::RBD::restraints::sphericalAngularDamper::
+sphericalAngularDamper
+(
+    const word& name,
+    const dictionary& dict,
+    const rigidBodyModel& model
+)
+:
+    restraint(name, dict, model)
+{
+    read(dict);
+}
+
+
+// * * * * * * * * * * * * * * * * Destructor  * * * * * * * * * * * * * * * //
+
+Foam::RBD::restraints::sphericalAngularDamper::
+~sphericalAngularDamper()
+{}
+
+
+// * * * * * * * * * * * * * * Member Functions  * * * * * * * * * * * * * * //
+
+Foam::spatialVector
+Foam::RBD::restraints::sphericalAngularDamper::restrain() const
+{
+    vector moment = -coeff_*model_.v(model_.master(bodyID_)).w();
+
+    if (model_.debug)
+    {
+        Info<< " moment " << moment << endl;
+    }
+
+    return spatialVector(moment, Zero);
+}
+
+
+bool Foam::RBD::restraints::sphericalAngularDamper::read
+(
+    const dictionary& dict
+)
+{
+    restraint::read(dict);
+
+    coeffs_.lookup("coeff") >> coeff_;
+
+    return true;
+}
+
+
+void Foam::RBD::restraints::sphericalAngularDamper::write
+(
+    Ostream& os
+) const
+{
+    restraint::write(os);
+
+    os.writeKeyword("coeff") << coeff_ << token::END_STATEMENT << nl;
+}
+
+
+// ************************************************************************* //
diff --git a/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.H b/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.H
new file mode 100644
index 0000000000..7754541b96
--- /dev/null
+++ b/src/rigidBodyDynamics/restraints/sphericalAngularDamper/sphericalAngularDamper.H
@@ -0,0 +1,117 @@
+/*---------------------------------------------------------------------------*\
+  =========                 |
+  \\      /  F ield         | OpenFOAM: The Open Source CFD Toolbox
+   \\    /   O peration     |
+    \\  /    A nd           | Copyright (C) 2016 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::RBD::restraints::sphericalAngularDamper
+
+Description
+    Spherical angular damper restraint.
+    Operates in the local frame of the body.
+
+SourceFiles
+    sphericalAngularDamper.C
+
+\*---------------------------------------------------------------------------*/
+
+#ifndef sphericalAngularDamper_H
+#define sphericalAngularDamper_H
+
+#include "rigidBodyRestraint.H"
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+namespace Foam
+{
+namespace RBD
+{
+namespace restraints
+{
+
+/*---------------------------------------------------------------------------*\
+                   Class sphericalAngularDamper Declaration
+\*---------------------------------------------------------------------------*/
+
+class sphericalAngularDamper
+:
+    public restraint
+{
+    // Private data
+
+        //- Damping coefficient [Nms/rad]
+        scalar coeff_;
+
+
+public:
+
+    //- Runtime type information
+    TypeName("sphericalAngularDamper");
+
+
+    // Constructors
+
+        //- Construct from components
+        sphericalAngularDamper
+        (
+            const word& name,
+            const dictionary& dict,
+            const rigidBodyModel& model
+        );
+
+        //- Construct and return a clone
+        virtual autoPtr<restraint> clone() const
+        {
+            return autoPtr<restraint>
+            (
+                new sphericalAngularDamper(*this)
+            );
+        }
+
+
+    //- Destructor
+    virtual ~sphericalAngularDamper();
+
+
+    // Member Functions
+
+        //- Return the external force applied to the body by this restraint
+        virtual spatialVector restrain() const;
+
+        //- Update properties from given dictionary
+        virtual bool read(const dictionary& dict);
+
+        //- Write
+        virtual void write(Ostream&) const;
+};
+
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+} // End namespace restraints
+} // End namespace RBD
+} // End namespace Foam
+
+// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
+
+#endif
+
+// ************************************************************************* //