Generate Equations of Motion of Simscape Model

Hi all,

Are the equations of motion formulated by MATLAB Simscape Multibody available to the users? From what I understand, the equations are generated internally and cannot be extracted by the users. But I want to be sure on this.

I also tried using the C code generation but it numerically integrates the equations and doesn't give access to the equations directly.

Any comments are appreciated. Thanks!