The ground articulating pipeline (GAP) system is a novel technology being considered as a potential technology for oil sands production within the Athabasca Oil Sands operations. This paper focuses on the GAP system dynamics and machine-oil sands interactions. The dynamic torque of the GAP system has been modeled and analyzed based on the theory of the multi-body dynamics, which are derived from Euler-Lagrangian dynamics. In particular, the dynamic models focus on the friction between oil sands ground and carriage, the angular velocity of the pipeline and the load applied to each machine carriage. A virtual prototype simulator has also been developed in the Automatic Dynamic Analysis Mechanical Systems (ADAMS) software based on the theoretical models. The virtual prototype models are validated using varying parameters such as friction coefficient, angular velocity and load in the ADAMS environment to generate the driving torque for the various GAP machine carriages. The results show that the load and friction have a greater influence on the driving torque value than angular velocity.