Multibody Mechanics

This web text is a reference for all topics in the mechanics of multibody systems. A format similar to that of an encyclopedia has been adopted to clearly take advantage of web style referencing and encourage other authors to add new topics or complete existing ones where they are lacking.

A topic is deemed complete when it includes the following elements:

• an overview of the method or operation outlining its application.
• a complete analytical description (and derivation where appropriate).
• example of computational implementation (in a MATLAB and Octave compatible m-file).

Table of Contents

• Introduction
• Notational Conventions
• Topics
  • Kinematics
    • Angular Velocity
    • Basis Vectors
    • Euler Angles (see Rotation Angles)
    • Euler Parameters
    • Quaternions (see Euler Parameters)
    • Reference Frame
    • Rotation Angles
  • Vector and Tensor Operations