Skip to main content

Teaching Multibody Dynamics at Warsaw University of Technology


The paper concerns the usage of the method of multibody systems (MBS) in teaching students at the Warsaw University of Technology. Research results from the MBS discipline are being used in several ways. Large-scale computer software is being used to illustrate lecture material, some MBS research results are included in lecture topics and independent courses are taught, based directly on MBS research. During senior courses, advanced software is also used as a computational tool as well as an integral part of Virtual Prototyping. The paper presents also several examples of student projects created with MBS.

This is a preview of subscription content, access via your institution.


  1. Haug, E.J., Computer-Aided Kinematics and Dynamics of Mechanical Systems. Vol. I: Basic Methods, Allyn and Bacon, 1989.

  2. Garcia de Jalon, J. and Bayo, E., Kinematic and Dynamic Simulation of Multibody Systems, Springer-Verlag, 1994.

  3. Beer, F.B. and Johnston, E.R., Vector Mechanics for Engineers. Statics and Dynamics, 1997.

  4. Bedford, A. and Wallace, F., Engineering Mechanics: Dynamics, Prentice Hall, Englewood Cliffs, 2001.

    Google Scholar 

  5. Hibbeler, R.C., Engineering Mechanics: Dynamics, Prentice Hall, Englewood Cliffs, 2001.

    Google Scholar 

  6. MSC.ADAMS – version 12, 13 (beta), Users Guides, RAIL/CAR/AIRCRAFT, MSC 2002.

  7. Visual NASTRAN 4D, MSC Software, 2002.

  8. Erdman, A., Sandor, G. and Kota, S., Mechanism DesignAnalysis and Synthesis, Prentice Hall, NY, Englewood, 2001.

    Google Scholar 

  9. Shigley, E.J. and Uicker, J.J., Theory of Machines and Mechanisms, 2nd edn., McGraw-Hill, 1995.

  10. Waldron, K.J. and Kinzel, G.L., Kinematics, Dynamics and Design of Machinery, Wiley, New York, 1999.

    Google Scholar 

  11. MADYMO, version 6.3, Users Guides, TNO, Delft, 2002.

  12. Ogata, K., Modern Control Engineering, Prentice Hall, Englewood Cliffs, 2002.

    Google Scholar 

  13. MATLAB/Toolboxes, version 13, Users Guides, Mathworks, 2002.

  14. Craig, J.J., Introduction to Robotics: Mechanics and Control, Addison-Wesley, Reading, 1998.

    Google Scholar 

  15. McKerrow, P.J., Introduction to Robotics, Addison-Wesley, Reading, 1993.

    Google Scholar 

  16. Brenan, K.E., Cambpell, S.L., and Petzold, L.R., Numerical Solution of Initial Value Problems in DAE, SIAM, Philadelphia, 1996.

    Google Scholar 

  17. Cardenal, J., Cuadrado, J. and Jimenez, J.M., ‘A general purpose method for the optimum kinematic synthesis of linkages’, Mechanics and Machine Theory, 1997, 200–207.

  18. Nikravesh, P.E., Computer-Aided Analysis of Mechanical Systems, Prentice-Hall, Englewood Cliffs, 1988.

    Google Scholar 

  19. Shabana, A.A., Dynamics of Multibody Systems, Wiley, New York, 1998.

    Google Scholar 

  20. DADS – version 9.0, Users Guide, Reference Manual, LMS, 1999.

  21. LS-DYNA, Theory Manual, version 950d, Livermore Software Technology Corporation, 1999.

  22. MSC.NASTRAN/PATRAN/DYTRAN, Advanced Dynamical Analysis, The Mac Neal-Schwendler Corporation, 2002.

  23. ANSYS, Users Manual, ANSYS Release 5.6, Help System, 2001.

  24. UNIGRAPHICS, 3D, Users Guides, 2002.

  25. Arczewski, K. and Frączek, J., ‘Modelling of vehicle dynamics using flexible multibody approach’, in Proceedings of Advances in Computational Multibody Dynamics ECCOMAS Thematic Conference (CD), Lisbon, 2003.

  26. Frączek, J., ‘Modelling and dynamical analysis of flexible vehicle using FEM and MS approach’, in Proceedings of the 16th European Mechanical Dynamics User Conference (CD), Berchtesgaden, Germany, November, 14–15, 2001.

  27. Frączek, J., Modelling of Spatial Mechanisms using MBS, Warsaw University of Technology, 2002 (in Polish).

  28. Wojtyra, M., Dynamical Simulation of Human Walking using Multibody System Approach, Warsaw University of Technology, 2000 (in Polish).

  29. Wojtyra, M., ‘Multibody simulation model of human walking’, Mechanics Based Design of Structures and Machines 31(3), 2003, 357–379.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations


Corresponding author

Correspondence to Janusz Frączek.

Rights and permissions

Reprints and Permissions

About this article

Cite this article

Frączek, J., Wojtyra, M. Teaching Multibody Dynamics at Warsaw University of Technology. Multibody Syst Dyn 13, 353–361 (2005).

Download citation

  • Received:

  • Accepted:

  • Issue Date:

  • DOI:


  • education
  • multibody dynamics