Titlebook: Dynamics of Multibody Systems; IUTAM/IFToMM Symposi Giovanni Bianchi,Werner Schiehlen Conference proceedings 1986 Springer-Verlag Berlin, H

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Canonical Approach to Multibody Systems Using Redundant Coordinates,elding the reactive forces. The inverse mass matrix of the constrained system is expressed in terms of an inverse matrix of lower order, and in some systems a set of explicit differential equations can be obtained. An important feature of this method is that geometric singularities are easily avoided.

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