Sorry, I was a bit harsh. However you must realize that with the level of the question you origionally posted, I was not led to believe you wanted much more than s=s0 +v0t + a0t\\^2 and the like.
I do apoligize, I judged you incorrectly, but I will not promise not to do it again. I am here not merely to teach others algorithms, but to teach others how to find those algorithms themselves. If someone who truely only needs basic physics cant be bothered to use google, then they deserve a cold shoulder.
That said, I am glad you found what you were looking for.
on virtually every new forum i post, i get into a bun fight with the first people i meet: invariably over misunderstandings. the fault is mine - for not doing enough research into the forum before posting.
google led me to this site (amongst others) - in 30 mins of searching i had 15 bookmark references (one of them being devmaster.net) and then once i was kindly referred to that, i found another 5.
ode is exactly what i was looking for: it is incredible. not only does it have the libraries i believed would be around if i searched long enough but it actually turns out to hook into OpenGL on your behalf!
what i mean by that is that you define basic objects (cylinder, sphere, rectangle) and the relationships between them (joint, bend, piston, collision) where "ground" is just another of the objects, then you call the "sim loop" function and voila, up pops a 3D real-time view!
there's a basic example of a "car" - test_buggy.cpp - which has 3 narrow cylinder wheels and a rectangle block chassis (made of lead as far as i can tell from the behaviour of the "car"!).
it just... _so_ far exceeds my wildest expectations.