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The approach leads to a recursive forward dynamic algorithm. This analytical simulation method was first developed for rigid body manipulators by \\textit{J. Angeles} and \\textit{S. K. Lee} [J. Appl. Mech. 55, No.~1, 243--244 (1988; Zbl 0672.70017)]. The simulation is a two-step process: (1) the computation of accelerations in generalized coordinates from the equations of motion for the system with given actuator forces and torques (i.e. the forward dynamics); and (2) the numerical integration of the accelerations computed in step (1) to obtain the corresponding velocities and positions. Numerical simulations are presented for a flexible two-link arm and for a spatial Canadarm with two flexible links (the Space Shuttle Remote Manipulator System SSRMS), illustrating the proposed approach. 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