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SIMON is a new vehicle dynamic simulation model. Applications for SIMON include single- and multi-unit vehicle handling simulation in severe limit maneuvers (including rollovers) and 3-dimensional environments. Applications also include vehicle-to-vehicle and vehicle-to-barrier collisions. This paper provides the technical background for the SIMON engineering model. The 3-dimensional equations of motion used by the model are presented and explained in detail. The calculations for suspension, tire, collision, aerodynamic and inter-vehicle connection forces and moments are also developed. The integration of features available in the HVE Simulation Environment, such as DyMESH, the Driver Model, Brake Designer and Steer Degree of Freedom, is also explained. Finally, assumptions and limitations of the model are presented.