Preface.
Introduction.
Generalized Coordinates for Mechanism Analysis.
Kinematics of Finite Motion.
Parameterization of Spherical Motion.
Rigid Body Dynamics.
The Elastic Beam.
System Constraints: Modelling of Joints.
Substructuring Techniques.
Static and Kinematic Analyses of Multibody Systems.
Time Integration of Constrained Systems.
Automatic Step Size Control.
Energy Conserving Time Integration.
References.
Index.
Table of Contents
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