please be patient for replies
if you want quickier help, joining irc channel #crystalspace on freenode server might be better.
As for ODE tutorials, check ODE website: http://www.ode.org/ode-docs.html
To get a feeling about how to use ODE in CS apps, check phystut
source code inCS/apps/tutorial/phystut/
Now with CEL, there are the pcmechsys
Check the mechtest
source code in cel/apps/mechtest/