Dynamics of Multibody Systems

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The book delves into the complexities of analyzing systems of rigid bodies, emphasizing the need for nonlinear equations of motion, energy expressions, and kinematic relationships. It critiques the conventional approach of deriving these equations individually for each system, highlighting the labor-intensive nature of obtaining equations from Lagrange's equation. The text aims to streamline these processes, offering insights into more efficient methodologies for tackling the dynamics of rigid body systems.