k to this headline">¶</a></h2>
<p>In modern literature, multi-body systems refer to modern mechanical systems
that are often very complex and consist of many components interconnected by
joints and force elements such as springs, dampers, and actuators. Examples of
multi-body systems are machines, mechanisms, robotics, vehicles, space
structures, and bio-mechanical systems. The dynamics of such systems are often
governed by complex relationships resulting from the relative motion and joint
forces between t