A dynamic model for multi-rigid-body systems which consists of interconnected rigid bodies based on particle dynamics and a recursive approach is presented. The method uses the concepts of linear and angular momentums to generate the rigid body equations of motion in terms of the Cartesian coordinates of a dynamically equivalent constrained system of particles, without introducing any rotational coordinates and the corresponding rotational transformation matrix. For the open-chain system, the equations of motion are generated recursively along the serial chains. A closed-chain system is transformed to open-chain by cutting suitable kinematical joints and introducing cut-joint constraints. An example is chosen to demonstrate the generality and simplicity of the developed formulation.
Hazem Ali Attia. "Dynamic model of multi-rigid-body systems based on particle dynamics with recursive approach." J. Appl. Math. 2005 (4) 365 - 382, 11 December 2005. https://doi.org/10.1155/JAM.2005.365