Because of its versatility in analyzing a broad range of applications, multibody dynamics has grown in the past two decades to be an important tool for designing, prototyping, and simulating complex articulated mechanical systems. This textbook a result of the author s many years of research and teaching brings together diverse concepts of dynamics, combining the efforts of many researchers in the field of mechanics. Bridging the gap between dynamics and engineering applications such as microrobotics, virtual reality simulation of interactive mechanical systems, nanomechanics, flexible...