You do most of your modeling in Mechanism-Editors.
See Add Mechanism-Editor - from the Model-Editor.
See Add Mechanism-Editor - from any Mechanism-Editor that you add to the model.
Menus and Toolbars:
Model elements - add Planes and add Mechanism-Editors to Planes.
Kinematic elements - add the basic elements: parts, joints, to help you build kinematic-chains.
Machine elements - add more complex functioning parts to your model.
Kinematic Function-Blocks - synchronize and measure the motion of each kinematic-chain (right of graphic-area).
Modeling Function-Blocks - tools that help you do more complex modelling (above of graphic-area).
Force elements - measure force, torque, and power that is required to drive each kinematic-chain (right of graphic-area).
Solid elements - show kinematic elements as solid model elements. The toolbar is above the name-tabs (above of graphic-area).