This book will be particularly useful to those interested in multibody simulation (MBS) and the
formulation for the dynamics of spatial multibody systems. The main types of coordinates that
can be used in the formulation of the equations of motion of constrained multibody systems are
described. The multibody system made of interconnected bodies that undergo large displacements
and rotations is fully defined. Readers will discover how Cartesian coordinates and Euler
parameters are utilized and are the supporting structure for all methodologies and dynamic
analysis developed within the multibody systems methodologies. The work also covers the
constraint equations associated with the basic kinematic joints as well as those related to
the constraints between two vectors. The formulation of multibody systems adopted here uses the
generalized coordinates and the Newton-Euler approach to derive the equations of motion. This
formulation results in the establishment of a mixed set of differential and algebraic equations
which are solved in order to predict the dynamic behavior of multibody systems. This approach
is very straightforward in terms of assembling the equations of motion and providing all joint
reaction forces. The demonstrative examples and discussions of applications are particularly
valuable aspects of this book which builds the reader's understanding of fundamental concepts.
