function input_ex_drag_race(; re = 0.3, a = 1.2, b = 1.4, h_G = 0.5, kf = 35000, kr = 45000, cf = 1500, cr = 1500, m = 1400, Iy = m * a * b)
    the_system = mbd_system("Drag Race Model")

    ## Copyright (C) 2019, Bruce Minaker

    # add one body representing the chassis
    item = body("chassis")
    item.mass = m
    item.moments_of_inertia = [0, Iy, 0] # only the Iy term matters here
    item.location = [0, 0, h_G]
    add_item!(item, the_system)
    add_item!(weight(item), the_system)

    item = flex_point("front spring")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location = [a, 0, re] # front axle "a" m ahead of cg
    item.forces = 1
    item.moments = 0
    item.axis = [0, 0, 1] # spring acts in z direction
    item.stiffness = [kf, 0] # linear stiffness "kf" N/m; (torsional stiffness zero, not a torsion spring so has no effect
    item.damping = [cf, 0]
    add_item!(item, the_system)

    item = flex_point("rear spring")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location = [-b, 0, re] # front axle "a" m ahead of cg
    item.forces = 1
    item.moments = 0
    item.axis = [0, 0, 1] # spring acts in z direction
    item.stiffness = [kr, 0] # linear stiffness "kf" N/m; (torsional stiffness zero, not a torsion spring so has no effect
    item.damping = [cr, 0]
    add_item!(item, the_system)

    # other constraints
    item = rigid_point("chassis planar")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location = [0, 0, h_G]
    item.forces = 1
    item.moments = 2
    item.axis = [0, 1, 0]
    add_item!(item, the_system)

    # outputs
    item = sensor("x_G")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location[1] = [0, 0, h_G]
    item.location[2] = [-0.1, 0, h_G]
    item.units = "m"
    add_item!(item, the_system)

    item = sensor("u_G")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location[1] = [0, 0, h_G]
    item.location[2] = [-0.1, 0, h_G]
    item.order = 2
    item.units = "m/s"
    add_item!(item, the_system)

    item = sensor("udot_G")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location[1] = [0, 0, h_G]
    item.location[2] = [-0.1, 0, h_G]
    item.order = 3
    item.units = "m/s/s"
    add_item!(item, the_system)

    item = sensor("Zs_r")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location[1] = [-b, 0, re]
    item.location[2] = [-b, 0, 0]
    item.gain = kr
    item.units = "N"
    add_item!(item, the_system)

    item = sensor("Zd_r")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location[1] = [-b, 0, re]
    item.location[2] = [-b, 0, 0]
    item.gain = cr
    item.order = 2
    item.units = "N"
    add_item!(item, the_system)

    item = sensor("Zs_f")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location[1] = [a, 0, re]
    item.location[2] = [a, 0, 0]
    item.gain = kf
    item.units = "N"
    add_item!(item, the_system)

    item = sensor("Zd_f")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location[1] = [a, 0, re]
    item.location[2] = [a, 0, 0]
    item.gain = cf
    item.order = 2
    item.units = "N"
    add_item!(item, the_system)


    # inputs
    item = actuator("X_a")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location[1] = [0, 0, h_G]
    item.location[2] = [0.1, 0, h_G]
    item.units = "N"
    add_item!(item, the_system)

    item = actuator("X_t")
    item.body[1] = "chassis"
    item.body[2] = "ground"
    item.location[1] = [0, 0, 0]
    item.location[2] = [-0.1, 0, 0]
    item.units = "N"
    add_item!(item, the_system)

    the_system

end
