diff --git a/matlab/nass_model.slx b/matlab/nass_model.slx
index caf701e..7a03972 100644
Binary files a/matlab/nass_model.slx and b/matlab/nass_model.slx differ
diff --git a/org/simscape_subsystems.org b/org/simscape_subsystems.org
index 6ac4c49..c90e6ca 100644
--- a/org/simscape_subsystems.org
+++ b/org/simscape_subsystems.org
@@ -1359,7 +1359,7 @@ The Simscape model of the sample environment is composed of:
     args.radius (1,1) double  {mustBeNumeric, mustBePositive} = 0.1 % [m]
     args.height (1,1) double  {mustBeNumeric, mustBePositive} = 0.3 % [m]
     args.mass   (1,1) double  {mustBeNumeric, mustBePositive} = 50 % [kg]
-    args.freq   (1,1) double  {mustBeNumeric, mustBePositive} = 100 % [Hz]
+    args.freq   (6,1) double  {mustBeNumeric, mustBePositive} = 100*ones(6,1) % [Hz]
     args.offset (1,1) double  {mustBeNumeric} = 0 % [m]
     args.Foffset      logical {mustBeNumericOrLogical} = false
   end
@@ -1404,14 +1404,37 @@ We define the geometrical parameters of the sample as well as its mass and posit
   sample.offset = args.offset; % [m]
 #+end_src
 
+** Compute the Inertia
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+
+#+begin_src matlab
+  sample.inertia = [1/12 * sample.mass * (3*sample.radius^2 + sample.height^2); ...
+                    1/12 * sample.mass * (3*sample.radius^2 + sample.height^2); ...
+                    1/2  * sample.mass * sample.radius^2];
+#+end_src
+
 ** Stiffness and Damping properties
 :PROPERTIES:
 :UNNUMBERED: t
 :END:
 
 #+begin_src matlab
-  sample.K = ones(3,1) * sample.mass * (2*pi * args.freq)^2; % [N/m]
-  sample.C = 0.1 * sqrt(sample.K*sample.mass); % [N/(m/s)]
+  sample.K = zeros(6, 1);
+  sample.C = zeros(6, 1);
+#+end_src
+
+Translation Stiffness and Damping:
+#+begin_src matlab
+  sample.K(1:3) = sample.mass .* (2*pi * args.freq(1:3)).^2; % [N/m]
+  sample.C(1:3) = 0.1 * sqrt(sample.K(1:3)*sample.mass); % [N/(m/s)]
+#+end_src
+
+Rotational Stiffness and Damping:
+#+begin_src matlab
+  sample.K(4:6) = sample.inertia .* (2*pi * args.freq(4:6)).^2; % [N/m]
+  sample.C(4:6) = 0.1 * sqrt(sample.K(4:6).*sample.inertia); % [N/(m/s)]
 #+end_src
 
 ** Equilibrium position of the each joint.
@@ -1424,7 +1447,7 @@ We define the geometrical parameters of the sample as well as its mass and posit
     load('mat/Foffset.mat', 'Fsm');
     sample.Deq = -Fsm'./sample.K;
   else
-    sample.Deq = zeros(3,1);
+    sample.Deq = zeros(6,1);
   end
 #+end_src
 
diff --git a/src/initializeSample.m b/src/initializeSample.m
index b970c31..bc4a757 100644
--- a/src/initializeSample.m
+++ b/src/initializeSample.m
@@ -5,7 +5,7 @@ arguments
   args.radius (1,1) double  {mustBeNumeric, mustBePositive} = 0.1 % [m]
   args.height (1,1) double  {mustBeNumeric, mustBePositive} = 0.3 % [m]
   args.mass   (1,1) double  {mustBeNumeric, mustBePositive} = 50 % [kg]
-  args.freq   (1,1) double  {mustBeNumeric, mustBePositive} = 100 % [Hz]
+  args.freq   (6,1) double  {mustBeNumeric, mustBePositive} = 100*ones(6,1) % [Hz]
   args.offset (1,1) double  {mustBeNumeric} = 0 % [m]
   args.Foffset      logical {mustBeNumericOrLogical} = false
 end
@@ -28,14 +28,24 @@ sample.height = args.height; % [m]
 sample.mass   = args.mass; % [kg]
 sample.offset = args.offset; % [m]
 
-sample.K = ones(3,1) * sample.mass * (2*pi * args.freq)^2; % [N/m]
-sample.C = 0.1 * sqrt(sample.K*sample.mass); % [N/(m/s)]
+sample.inertia = [1/12 * sample.mass * (3*sample.radius^2 + sample.height^2); ...
+                  1/12 * sample.mass * (3*sample.radius^2 + sample.height^2); ...
+                  1/2  * sample.mass * sample.radius^2];
+
+sample.K = zeros(6, 1);
+sample.C = zeros(6, 1);
+
+sample.K(1:3) = sample.mass .* (2*pi * args.freq(1:3)).^2; % [N/m]
+sample.C(1:3) = 0.1 * sqrt(sample.K(1:3)*sample.mass); % [N/(m/s)]
+
+sample.K(4:6) = sample.inertia .* (2*pi * args.freq(4:6)).^2; % [N/m]
+sample.C(4:6) = 0.1 * sqrt(sample.K(4:6).*sample.inertia); % [N/(m/s)]
 
 if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
   load('mat/Foffset.mat', 'Fsm');
   sample.Deq = -Fsm'./sample.K;
 else
-  sample.Deq = zeros(3,1);
+  sample.Deq = zeros(6,1);
 end
 
 save('./mat/stages.mat', 'sample', '-append');