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Researchers have investigated modeling and computation of constrained dynamical systems, but scientists and engineers sometimes overlook consistent matching of mathematical modeling and numerical methods. The authors use multibody system software to study off-highway vehicles, automobile and android crash simulation, and planetary ephemerides.
constrained variational systems, contact forces, differential algebraic equations, mathematical Modeling, multibody dynamics, numerical computation, ordinary differential equations, virtual work.

L. Jennings, A. Y. Zomaya and B. Fox, "The Computation of Constrained Dynamical Systems: Matching Physical Modeling with Numerical Methods," in Computing in Science & Engineering, vol. 3, no. , pp. 28-36, 2001.
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