A Rosenbrock-Nystrom State Space Implicit Approach for the Dynamic Analysis of Mechanical Systems: II { The Method and Numerical Examples

When performing dynamic analysis of a constrained mechanical system, a set of index 3 Di erential-Algebraic Equations (DAE) describes the time evolution of the system. In the companion paper [4] we developed a state-space based method for the numerical solution of the resulting DAE. The numerical method uses a linearly-implicit time stepping formula of Rosenbrock type, which is suitable for medium accuracy integration of sti systems. In this paper we discuss choices of method coeÆcients and present numerical results. For sti mechanical systems, the proposed algorithm is shown to signi cantly reduce simulation times when compared to state of the art existent algorithms. The better eÆciency is due to the use of an L-stable integrator and a rigorous and general approach to providing analytical derivatives required by it.