ABSTRACT
This chapter focuses on developing an all-purpose algorithm for dynamic simulation of flexible treelike systems that makes use of matrix notation at all levels. The equations developed are applicable to high-speed systems under going large rotations, and a strict finite element formulation is presented. The inertia moment of the elements and the damping forces of the structure are included. The method employs the least relative coordinates, Kane's equation and a matrix base formulation. An explicit matrix formulation of the dynamical equations for flexible and rigid treelike multibody systems is presented. The method highlights the simplicity of the approach taken when a least set of relative coordinates is used and a matrix representation is adopted right at the kinematics level by identifying the skew matrices associated with the position vectors and the angular velocities.
