he components of the system. <a class="footnote-reference brackets" href="#id3" id="id1">1</a></p>
<p>Therefore, a multi-body system is hereby defined as <em>a finite number of
material bodies connected in an arbitrary fashion by mechanical joints that
limit the relative motion between pairs of bodies</em>.
Practitioners of multi-body dynamics study the generation and solution of the
equations governing the motion of such systems <a class="footnote-reference brackets" href="#id4" id="id2">2</a>.</p>
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