A system and method for virtual interactive design and evaluation and manipulation of a vehicle mechanism using a haptic-user interface is provided. The system includes a computer system and a haptic interface operatively in communication with the computer system, whereby the haptic interface includes a haptic end effector device for transmitting information between a user and a digital model as the user interactively creates, modifies, and evaluates kinematic and dynamic properties of the vehicle mechanism using the haptic end effector device.