Titlebook: Concepts and Formulations for Spatial Multibody Dynamics; Paulo Flores Book 2015 The Editor(s) (if applicable) and The Author(s), under ex

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The Published Works of A. B. Vistelius and Bryant angles are briefly characterized. Particular emphasis is given to Euler parameters, which are utilized to describe the rotational coordinates in the present work. In addition, for all the types of coordinates considered in this chapter, a characterization of the transformation matrix is

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https://doi.org/10.1007/978-1-4614-8957-3raint equations for mechanical joints. In particular, relations between two parallel and two perpendicular vectors are derived. Moreover, formulation for a vector that connects two generic points is presented. The material described here is developed under the framework of multibody systems formulat

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