Efficient formulation of the Gibbs–Appell equations for constrained multibody systems

In this study, we present explicit equations of motion for general mechanical systems exposed to holonomic and nonholonomic constraints based on the Gibbs-Appell formulation. Without constructing the Gibbs function, the proposed method provides a minimal set of first-order dynamic equations applicable for multibody constrained systems. Transforming the Newton–Euler equations from physical coordinates to quasivelocity spaces eliminate constraint...