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In this paper, a systematic procedure is developed for modeling joint constraints in the absolute nodal coordinate formulation.  At first, a fully parameterized three-dimensional beam element obtained using the absolute nodal coordinate formulation is reviewed. Then the constraint formulations are obtained using the joint coordinate system determined by gradient coordinates. Non-generalized intermediate coordinates are introduced to derive a mapping between generalized gradient coordinates and non-generalized rotation parameters. A new constraint formulation using the non-generalized coordinates is developed, and procedures for eliminating the non-generalized coordinates and dependent Lagrange multipliers are presented.  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