Dependent Coordinates and Related Constraint Equations

In either the kinematic or dynamic analysis of multibody systems described in Chapter 1, the first issue to consider is that of modeling the system, which involves the selection of a set of parameters or coordinates that will allow one to define unequivocally at all times the position, velocity and acceleration of the multibody system. There are several ways to solve this problem, and different authors have opted for one way or another depending on their preferences or the peculiarities of their own formulation.