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As mechanical systems become more complex so do the mathematical models and simulations used to describe the interactions of their parts. One area of multibody

Mechanics provides the link between mathematics and practical engineering app- cations. It is one of the oldest sciences, and many famous scientists have left a

Multibody dynamics started with the ideas of Jacob and Daniel Bernoul li and later on with d'Alembert's principle. In establishing a solution for the problem of

"Models based on bodies that interact with each other are also known as multibody systems. Such models are proven to be very useful for representing the motion

This book contains an edited versIOn of lectures presented at the NATO ADVANCED STUDY INSTITUTE on VIRTUAL NONLINEAR MUL TIBODY SYSTEMS which was held in Prague