Rigid Multibody Systems

Multibody systems provide convenient models in which one can easily access methodologies to solve problems within those systems. This concept is based on the Central Equation (2.37) and allows for a fair comparison of methods. The Central Equation makes use of the energies inherent in the components of the chosen system. One task is therefore to derive those energies in a rigid body system. The rigid body is thereby defined in a suitable way such that, by relaxation of the rigidity constraints, one can directly proceed to elastic bodies.