Dynamics of Multibody Systems

By G. Genta. 2009

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Applications of the discrete element method in mechanical engineering (2007, methodology): “Using the quaternion approach, rotations can be expressed without the need to care for singularities of Jacobian matrices as they occur if Euler or Cardan angles are used [ 5 ].”
Sparse matrix implicit numerical integration of the Stiff differential/algebraic equations: Implementation (2011, background): “In general, the differential equations of motion and the algebraic constraint equations of a multibody system can be written, respectively, in the following forms [ 8 , 9, 12]:”