In mechatronic design, agile methods address many of the emerging challenges of the dynamic, volatile, uncertain, complex, and ambiguous environment of rapid technological and market change. In the context of the introduction of the agile development process for hardware systems such as mechatronic systems, this paper proposes to tackle the following challenge: how to ensure the consistency and traceability of the requirements management all along an agile development of mechatronic systems. In this respect, we propose the analysis of the state of the art, before providing the REMAC (Requirement Engineering for Mechatronics in an Agile Context) framework including some key tools to manage the consistency of dynamic management of requirements in an agile context. Therefore, this framework supports engineers in the requirements engineering activities of their development process.