diff --git a/bullet-featherstone/CMakeLists.txt b/bullet-featherstone/CMakeLists.txt
index 08591b239..04d1a6840 100644
--- a/bullet-featherstone/CMakeLists.txt
+++ b/bullet-featherstone/CMakeLists.txt
@@ -27,18 +27,7 @@ target_link_libraries(${bullet_plugin}
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
 install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 
-# The library created by `gz_add_component` includes the ign-physics version
-# (i.e. libgz-physics1-name-plugin.so), but for portability,
-# we also install an unversioned symlink into the same versioned folder.
-set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${bullet_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
-set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
 if (WIN32)
   # disable MSVC inherit via dominance warning
   target_compile_options(${bullet_plugin} PUBLIC "/wd4250")
-  INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
-      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
-      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
-else()
-  EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
diff --git a/bullet/CMakeLists.txt b/bullet/CMakeLists.txt
index 3d64be94b..09bb16124 100644
--- a/bullet/CMakeLists.txt
+++ b/bullet/CMakeLists.txt
@@ -27,18 +27,7 @@ target_link_libraries(${bullet_plugin}
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
 install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 
-# The library created by `gz_add_component` includes the gz-physics version
-# (i.e. libgz-physics1-name-plugin.so), but for portability,
-# we also install an unversioned symlink into the same versioned folder.
-set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${bullet_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
-set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
 if (WIN32)
   # disable MSVC inherit via dominance warning
   target_compile_options(${bullet_plugin} PUBLIC "/wd4250")
-  INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
-      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
-      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
-else()
-  EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt
index fcc841bde..e0661da9d 100644
--- a/dartsim/CMakeLists.txt
+++ b/dartsim/CMakeLists.txt
@@ -57,20 +57,9 @@ endif()
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
 install(TARGETS ${dartsim_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 
-# The library created by `gz_add_component` includes the gz-physics version
-# (i.e. libgz-physics1-name-plugin.so), but for portability,
-# we also install an unversioned symlink into the same versioned folder.
-set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${dartsim_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
-set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
 if (WIN32)
   # disable MSVC inherit via dominance warning
   target_compile_options(${dartsim_plugin} PUBLIC "/wd4250")
-  INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
-      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
-      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
-else()
-  EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
 
 # Testing
diff --git a/tpe/plugin/CMakeLists.txt b/tpe/plugin/CMakeLists.txt
index a92b3368c..ff73b2cb4 100644
--- a/tpe/plugin/CMakeLists.txt
+++ b/tpe/plugin/CMakeLists.txt
@@ -34,20 +34,9 @@ target_link_libraries(${tpe_plugin}
 # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
 install(TARGETS ${tpe_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 
-# The library created by `gz_add_component` includes the gz-physics version
-# (i.e. libgz-physics1-name-plugin.so), but for portability,
-# we also install an unversioned symlink into the same versioned folder.
-set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${tpe_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
-set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
 if (WIN32)
   # disable MSVC inherit via dominance warning
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4250")
-  INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
-      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
-      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
-else()
-  EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
-  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR})
 endif()
 
 gz_build_tests(