BEPUphysics

I have a platform containing an entity that I want to lift other objects. When I place an object on top
it is supported by the platform but when I lift the platform the object falls through.

??Ideas.

Figured it out..... don't use teleport, use linear and/or angular velocities

Yup, and there's also some helper classes you can use in the BEPUphysics.Paths.PathFollowing namespace (EntityMover/EntityRotator). They will change entity velocities to reach goal positions/orientations.