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The book describes the methodologies for dynamics formulation, balancing, and optimizing dynamic quantities of multibody systems, such as mechanisms and robots. The writing equations of motion of multibody systems are simplified by using Decoupled Natural Orthogonal Complementary (DeNOC) matrices-based methodology originally proposed by the second author. Writing equations of motion using a DeNOC based approach enables the analytical expressions of even complicated systems which provide better physical insights of the system at-hand. The DeNOC based dynamics formulation of multibody systems...