Simscape model for Automotive Suspension

I really need help with this. I'm trying to model a halfcar simulation similar to the one in this example:

https://www.mathworks.com/help/simulink/slref/automotive-suspension.html?s_tid=answers_rc2-2_p5_MLT

But I would like to form the model in Simscape, rather than with Simulink blocks. I understand how to create a spring/damper model in Simscape but I have no idea how to connect them to a rotational body. Let me know if you can help!

Thanks!