Generalized inertia forces of rigid and flexible bodies

In the paper a method for deriving the dynamic equations of motion of rigid and flexible multibody systems is presented. Three dimensional matrices are applied for working out the configuration space dynamic equations. Finite elements are used for modeling of flexible systems. Novel generalized Newton‐Euler equations and relations for inertia forces in nodes of flexible elements are proposed. (© 2004 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)