This paper presents a work underdone with the intention of filling the gap between system-level designs and simulations in the context of mechatronics. High levels system designs and specifications that usually expressed in SysML are not sufficient to verify the performance of dynamical systems because SysML is only capable of descriptive semantics. In other words, it cannot generate executable simulations. Engineers often use separate simulation tools (e.g., Matlab/Simulink) for evaluating the system performance. In this sense, we propose a modeling and simulation approach using stereotypes and specializations of SysML standards to facilitate mechatronics system design. As a merit, descriptive SysML models are integrated with simulation models (e.g. Simulink and Simscape) in a single execution environment. We demonstrate the approach along with an illustrative example of a mobile robotic platform.