The book Multibody Systems guides the reader from the fundamentals of engineering mechanics to the formulations of the kinematic and dynamic equations of systems of rigid bodies suitable for computational generation. Multibody systems are used for the numerical simulation of complex mechanical systems in mechanical engineering, automotive engineering, aerospace engineering, and biomechanics.The presentation focuses on the implicit and explicit mathematical formulations of the bonds that geometrically constrain the motion of the partial bodies and define the directions of the reaction forces...