A geometrical interpretation and uniform matrix formulation of multibody system dynamics (Q2722650)

The author presents a comprehensive exposition of a geometric formulation of governing equations of constrained multibody systems. The formulation employs a matrix notation which envelops various dynamics principles and procedures (e.g. Newton's laws, d'Alembert's principle, Jourdain's principle, Gauss' principle, Lagrange's equations, Kane's equations, Gibbs-Appell equations, and Maggi's equations). That is, the author provides a geometric interpretation of these principles. The author claims that his formulation is intuitive, compact, broadly applicable, and computational (suitable for algorithm development). This reviewer agrees and believes the paper could be of interest and use to practitioners, as well as theoreticians.