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Modeling of multi-body system mechanics plays a central role in the design of mechatronic systems. Roller bearings contribute stiffness and damping to the system dynamics of a mechatronic system. This article shows the stiffness modeling of selected types of roller bearings. The kinematics of deformation of a roller bearing are shown. Based on the principle of Hertz'ian contact stress the elastic forces and torques are calculated. These forces are considered and implemented in the MultiBody Library.