An application of the Udwadia–Kalaba dynamic formulation to flexible multibody systems

For the transient response analysis of a flexible slider-crank mechanism, the coordinate partitioning scheme and the Udwadia–Kalaba formulation are herein compared. The flexibility of the coupler has been modelled by means of a single Timoshenko beam element. The present analytical treatment can be viewed as an extension of the model discussed by Shabana in his textbook.