Yes, it is possible. No, it is not easy. You basically have three possibilities:

• Write it yourself. You have to implement all that hard physics stuff yourself. Veeeeery hard to achieve. If you know nothing about mechanics the maybe worst idea.
• Use the integrated ODE physics engine. Unfortunately it has only very limited capabilities and known bugs. E.g. the cylinder simulation does not work sufficient.
• Use the newton SDK. You might be interested in ventilators great Newton Lite-C Adaption. (Have a quick search on this forum, you'll find it rapidly.) Ventilator did all the nasty work so you can use it relatively comfortably. There is also an older adaption for c-script.

The question you should ask yourself is how detailed your simulation should be. Newton will be sufficient for simulating a game's world, but when it comes to very serious physical simulations you might run into trouble. ODE is only capable of simulating very simple scenarios.