Dynamics of Multibody Systems
Preface
The methods for the nonlinear analysis of physical and mechanical systems developed
for use on modern digital computers provide means for accurate analysis of largescale
systems under dynamic loading conditions. These methods are based on the
concept of replacing the actual system by an equivalent model made up from discrete
bodies having known elastic and inertia properties. The actual systems, in fact, form
multibody systems consisting of interconnected rigid and deformable bodies, each
of which may undergo large translational and rotational displacements. Examples
of physical and mechanical systems that can be modeled as multibody systems are
machines, mechanisms, vehicles, robotic manipulators, and space structures. Clearly,
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