The explanation of two semi-recursive multibody methods for educational purpose

In this paper, two often-employed alternatives to the semi-recursive method are described and compared in terms of velocity transformation. The text offers a simplified way understand theory behind approaches. Focusing on planar cases, particular attention is given reference joint coordinates. Consequently, multibody modeling analyst that familiar with global formulations can easily extend his/her knowledge approach. Using methods, open loops formulated reduced set coordinates, constraint equations avoided dynamic motion. Accordingly, computationally efficient forms matrices vectors will be generated represent motion, which leads enhanced numerical efficiency. difference between studied definition point (i.e., origin body frame) used define coordinates body. could either (1) rigidly attached moving for I or (2) coincident frame II. latter simple expressions