Multibody Dynamics

This page provides links to a set of notes and exercises related to multibody dynamics – kinematical and dynamical analyses of constrained mechanical systems consisting of many interconnected rigid bodies. Emphasis is on formulations that are conducive to being developed into computer algorithms.

ENGR1990GolferApproachShot2
Example Multibody System

Notes

Converting Vector Operations to Matrix Operations

  1. Representation of Vector Operations as Matrix Operations

Body-Connection Array

  1. Body-Connection Array

More on Generalized Speeds, Partial Angular Velocities, and Partial Velocities

  1. Generalized Speeds, Partial Angular Velocities, and Partial Velocities