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FreeCAD is only available for Windows.
You may still download it but the .exe file will only work on Windows.
You can edit basic solids to build complex machines. The software provides you with various connectors, including joins, actuators, motors, dampers and more.
Once your machine is built, you can let the software simulate how it would work in real life. You can start open or closed 3D loops, to see how your machine will move with the given connectors.
By using real-life physics, the software is capable of predicting your mechanism's motion with a high degree of accuracy.
After you build and simulate your mechanism, FreeCAD can provide you with kinematic, quasi-static and dynamic solutions for a time interval of your choice.
To help you study your mechanism's dynamics, the software can provide you with a huge amount of data, about displacements, velocities, accelerations, forces, torques and other aspects, in the form of plots and tabular outputs.