BEPUphysics

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Box boxOne = new Box(new Vector3(0, 0,0) , 1, 1, 1, 5);
            boxOne.Orientation = Quaternion.CreateFromAxisAngle(Vector3.Forward, 0);
            Box boxTwo = new Box(new Vector3(0, 5, 0), 1, 1, 1, 5);
            boxTwo.Orientation = Quaternion.CreateFromAxisAngle(Vector3.Forward, 0);
            boxOne.Material = new Material(.3f,.2f,.2f);
            boxTwo.Material = new Material(.3f, .2f, .2f);
            RevoluteAngularJoint bsj;
            AngularMotor am;
            Space.Add(boxOne);
            Space.Add(boxTwo);
            bsj = new RevoluteAngularJoint(boxOne, boxTwo, new Vector3(0,2.5f,0));
            am = new AngularMotor(boxOne, boxTwo);
            am.Settings.Mode = MotorMode.VelocityMotor;
            am.IsActive = true;
            bsj.IsActive = true;
            EllipseSwingLimit swingLimit = new EllipseSwingLimit(boxOne, boxTwo, Vector3.Up, MathHelper.PiOver4, MathHelper.PiOver2);
            bsj.GalLimit = swingLimit;
            bsj.GalMotor = am;
            Space.Add(swingLimit);
            Space.Add(am);
            Space.Add(bsj);