ABSTRACT
Among the most difficult areas in dynamics is the study of multibody systems. A "multibody system" is simply a collection of bodies interacting with one another either through connection joints or by forces exerted between the bodies. In recent years dynamic analyses of multibody systems has been aided by availability of high-speed digital computers and by advances in analytical/ computational procedures. These advances and procedures are analogous to similar advances and procedures in finite element analysis several decades ago.
