This book presents a general methodology for dynamic analysis of planar rigid multibody systems. After a brief characterization of the embryogenesis of multibody systems, the concept of multibody system is presented and accompanied with some examples of application. The main types of coordinates used to model multibody systems are also presented and discussed. A description of global and local coordinates is also offered. Then, a complete formulation of the elementary kinematic constraints is presented, as well as the main issues related to the kinematic analysis of multibody systems. Then,...