diff --git a/src/equations/ContactEquation.js b/src/equations/ContactEquation.js
index 8aa95fdd2..ecd664ec4 100644
--- a/src/equations/ContactEquation.js
+++ b/src/equations/ContactEquation.js
@@ -160,84 +160,3 @@ ContactEquation.prototype.getImpactVelocityAlongNormal = function(){
     return this.ni.dot(relVel);
 };
 
-// Compute C = GMG+eps in the SPOOK equation
-/*
-var computeC_temp1 = new Vec3();
-var computeC_temp2 = new Vec3();
-ContactEquation.prototype.computeC = function(){
-    var bi = this.bi;
-    var bj = this.bj;
-    var rixn = this.rixn;
-    var rjxn = this.rjxn;
-    var invMassi = bi.invMass;
-    var invMassj = bj.invMass;
-
-    var C = invMassi + invMassj + this.eps;
-
-    var invIi = this.invIi;
-    var invIj = this.invIj;
-
-    // Compute rxn * I * rxn for each body
-    if(bi.invInertiaWorld) bi.invInertiaWorld.vmult(rixn, this.biInvInertiaTimesRixn);
-    if(bj.invInertiaWorld) bj.invInertiaWorld.vmult(rjxn, this.bjInvInertiaTimesRjxn);
-
-    C += this.biInvInertiaTimesRixn.dot(rixn);
-    C += this.bjInvInertiaTimesRjxn.dot(rjxn);
-
-    return C;
-};
-
-var computeGWlambda_ulambda = new Vec3();
-ContactEquation.prototype.computeGWlambda = function(){
-    var bi = this.bi;
-    var bj = this.bj;
-    var ulambda = computeGWlambda_ulambda;
-
-    var GWlambda = 0.0;
-
-    bj.vlambda.vsub(bi.vlambda, ulambda);
-    GWlambda += ulambda.dot(this.ni);
-
-    // Angular
-    if(bi.wlambda){
-        GWlambda -= bi.wlambda.dot(this.rixn);
-    }
-    if(bj.wlambda){
-        GWlambda += bj.wlambda.dot(this.rjxn);
-    }
-
-    return GWlambda;
-};
-
-var ContactEquation_addToWlambda_temp1 = new Vec3();
-var ContactEquation_addToWlambda_temp2 = new Vec3();
-ContactEquation.prototype.addToWlambda = function(deltalambda){
-    var bi = this.bi,
-        bj = this.bj,
-        rixn = this.rixn,
-        rjxn = this.rjxn,
-        invMassi = bi.invMass,
-        invMassj = bj.invMass,
-        n = this.ni,
-        temp1 = ContactEquation_addToWlambda_temp1,
-        temp2 = ContactEquation_addToWlambda_temp2;
-
-
-    // Add to linear velocity
-    n.mult(invMassi * deltalambda, temp2);
-    bi.vlambda.vsub(temp2,bi.vlambda);
-    n.mult(invMassj * deltalambda, temp2);
-    bj.vlambda.vadd(temp2,bj.vlambda);
-
-    // Add to angular velocity
-    if(bi.wlambda !== undefined){
-        this.biInvInertiaTimesRixn.mult(deltalambda,temp1);
-
-        bi.wlambda.vsub(temp1,bi.wlambda);
-    }
-    if(bj.wlambda !== undefined){
-        this.bjInvInertiaTimesRjxn.mult(deltalambda,temp1);
-        bj.wlambda.vadd(temp1,bj.wlambda);
-    }
-};
-*/
diff --git a/src/equations/FrictionEquation.js b/src/equations/FrictionEquation.js
index 7580e6745..9c45fcb12 100644
--- a/src/equations/FrictionEquation.js
+++ b/src/equations/FrictionEquation.js
@@ -108,80 +108,3 @@ FrictionEquation.prototype.computeB = function(h){
 
     return B;
 };
-
-/*
-// Compute C = G * Minv * G + eps
-//var FEcomputeC_temp1 = new Vec3();
-//var FEcomputeC_temp2 = new Vec3();
-FrictionEquation.prototype.computeC = function(){
-    var bi = this.bi,
-        bj = this.bj,
-        rixt = this.rixt,
-        rjxt = this.rjxt,
-        invMassi = bi.invMass,
-        invMassj = bj.invMass,
-        C = invMassi + invMassj + this.eps,
-        invIi = this.invIi,
-        invIj = this.invIj;
-
-    // Compute rxt * I * rxt for each body
-    if(bi.invInertiaWorld) bi.invInertiaWorld.vmult(rixt,this.biInvInertiaTimesRixt);
-    if(bj.invInertiaWorld) bj.invInertiaWorld.vmult(rjxt,this.bjInvInertiaTimesRjxt);
-    C += this.biInvInertiaTimesRixt.dot(rixt);
-    C += this.bjInvInertiaTimesRjxt.dot(rjxt);
-
-    return C;
-};
-
-var FrictionEquation_computeGWlambda_ulambda = new Vec3();
-FrictionEquation.prototype.computeGWlambda = function(){
-    var bi = this.bi;
-    var bj = this.bj;
-
-    var GWlambda = 0.0;
-    var ulambda = FrictionEquation_computeGWlambda_ulambda;
-    bj.vlambda.vsub(bi.vlambda,ulambda);
-    GWlambda += ulambda.dot(this.t);
-
-    // Angular
-    if(bi.wlambda){
-        GWlambda -= bi.wlambda.dot(this.rixt);
-    }
-    if(bj.wlambda){
-        GWlambda += bj.wlambda.dot(this.rjxt);
-    }
-
-    return GWlambda;
-};
-
-var FrictionEquation_addToWlambda_tmp = new Vec3();
-FrictionEquation.prototype.addToWlambda = function(deltalambda){
-    var bi = this.bi,
-        bj = this.bj,
-        rixt = this.rixt,
-        rjxt = this.rjxt,
-        invMassi = bi.invMass,
-        invMassj = bj.invMass,
-        t = this.t,
-        tmp = FrictionEquation_addToWlambda_tmp,
-        wi = bi.wlambda,
-        wj = bj.wlambda;
-
-    // Add to linear velocity
-    t.mult(invMassi * deltalambda, tmp);
-    bi.vlambda.vsub(tmp,bi.vlambda);
-
-    t.mult(invMassj * deltalambda, tmp);
-    bj.vlambda.vadd(tmp,bj.vlambda);
-
-    // Add to angular velocity
-    if(wi){
-        this.biInvInertiaTimesRixt.mult(deltalambda,tmp);
-        wi.vsub(tmp,wi);
-    }
-    if(wj){
-        this.bjInvInertiaTimesRjxt.mult(deltalambda,tmp);
-        wj.vadd(tmp,wj);
-    }
-};
-*/
diff --git a/src/equations/RotationalEquation.js b/src/equations/RotationalEquation.js
index 7239a91c2..058112238 100644
--- a/src/equations/RotationalEquation.js
+++ b/src/equations/RotationalEquation.js
@@ -86,68 +86,3 @@ RotationalEquation.prototype.computeB = function(h){
     return B;
 };
 
-/*
-// Compute C = GMG+eps
-RotationalEquation.prototype.computeC = function(){
-    var bi = this.bi;
-    var bj = this.bj;
-    var nixnj = this.nixnj;
-    var njxni = this.njxni;
-    var invMassi = bi.invMass;
-    var invMassj = bj.invMass;
-
-    var C = this.eps;
-
-
-    C += bi.invInertiaWorld.vmult(njxni).dot(njxni);
-    C += bj.invInertiaWorld.vmult(nixnj).dot(nixnj);
-
-    return C;
-};
-
-var computeGWlambda_ulambda = new Vec3();
-RotationalEquation.prototype.computeGWlambda = function(){
-    var bi = this.bi;
-    var bj = this.bj;
-    var ulambda = computeGWlambda_ulambda;
-
-    var GWlambda = 0.0;
-    //bj.vlambda.vsub(bi.vlambda, ulambda);
-    //GWlambda += ulambda.dot(this.ni);
-
-    // Angular
-    if(bi.wlambda){
-        GWlambda += bi.wlambda.dot(this.njxni);
-    }
-    if(bj.wlambda){
-        GWlambda += bj.wlambda.dot(this.nixnj);
-    }
-
-    //console.log("GWlambda:",GWlambda);
-
-    return GWlambda;
-};
-
-RotationalEquation.prototype.addToWlambda = function(deltalambda){
-    var bi = this.bi;
-    var bj = this.bj;
-    var nixnj = this.nixnj;
-    var njxni = this.njxni;
-    var invMassi = bi.invMass;
-    var invMassj = bj.invMass;
-
-    // Add to linear velocity
-    //bi.vlambda.vsub(n.mult(invMassi * deltalambda),bi.vlambda);
-    //bj.vlambda.vadd(n.mult(invMassj * deltalambda),bj.vlambda);
-
-    // Add to angular velocity
-    if(bi.wlambda){
-        var I = bi.invInertiaWorld;
-        bi.wlambda.vsub(I.vmult(nixnj).mult(deltalambda),bi.wlambda);
-    }
-    if(bj.wlambda){
-        var I = bj.invInertiaWorld;
-        bj.wlambda.vadd(I.vmult(nixnj).mult(deltalambda),bj.wlambda);
-    }
-};
-*/
diff --git a/src/equations/RotationalMotorEquation.js b/src/equations/RotationalMotorEquation.js
index 190091c02..6a76f77e1 100644
--- a/src/equations/RotationalMotorEquation.js
+++ b/src/equations/RotationalMotorEquation.js
@@ -75,70 +75,3 @@ RotationalMotorEquation.prototype.computeB = function(h){
 
     return B;
 };
-
-/*
-// Compute C = GMG+eps
-RotationalMotorEquation.prototype.computeC = function(){
-    var bi = this.bi;
-    var bj = this.bj;
-    var axisA = this.axisA;
-    var axisB = this.axisB;
-    var invMassi = bi.invMass;
-    var invMassj = bj.invMass;
-
-    var C = this.eps;
-
-    C += bi.invInertiaWorld.vmult(axisA).dot(axisB);
-    C += bj.invInertiaWorld.vmult(axisB).dot(axisB);
-
-    return C;
-};
-
-var computeGWlambda_ulambda = new Vec3();
-RotationalMotorEquation.prototype.computeGWlambda = function(){
-    var bi = this.bi;
-    var bj = this.bj;
-    var ulambda = computeGWlambda_ulambda;
-    var axisA = this.axisA;
-    var axisB = this.axisB;
-
-    var GWlambda = 0.0;
-    //bj.vlambda.vsub(bi.vlambda, ulambda);
-    //GWlambda += ulambda.dot(this.ni);
-
-    // Angular
-    if(bi.wlambda){
-        GWlambda += bi.wlambda.dot(axisA);
-    }
-    if(bj.wlambda){
-        GWlambda += bj.wlambda.dot(axisB);
-    }
-
-    //console.log("GWlambda:",GWlambda);
-
-    return GWlambda;
-};
-
-RotationalMotorEquation.prototype.addToWlambda = function(deltalambda){
-    var bi = this.bi;
-    var bj = this.bj;
-    var axisA = this.axisA;
-    var axisB = this.axisB;
-    var invMassi = bi.invMass;
-    var invMassj = bj.invMass;
-
-    // Add to linear velocity
-    //bi.vlambda.vsub(n.mult(invMassi * deltalambda),bi.vlambda);
-    //bj.vlambda.vadd(n.mult(invMassj * deltalambda),bj.vlambda);
-
-    // Add to angular velocity
-    if(bi.wlambda){
-        var I = bi.invInertiaWorld;
-        bi.wlambda.vsub(I.vmult(axisA).mult(deltalambda),bi.wlambda);
-    }
-    if(bj.wlambda){
-        var I = bj.invInertiaWorld;
-        bj.wlambda.vadd(I.vmult(axisB).mult(deltalambda),bj.wlambda);
-    }
-};
-*/