On the successive constraint imposition approach to multibody mechanisms (Q1975652)

The author presents a new method for obtaining the governing dynamical equations for constrained multibody systems. The essence of the method is to successively apply constraints to unconstrained systems. The method is claimed to have both algebraic and computational advantages over the commonly used procedures. The method is also claimed to provide a natural partitioning of multibody systems. With the method there is no distinction needed between holonomic and non-holonomic constraints. The paper is very well written, and the proposed method is carefully developed. The paper should be of interest and use to both theoreticians and numerical analysts working with constrained multibody systems.