Introduction

The development of technical products, such as machines, robots, or road and rail vehicles, is unimaginable today without the use of computer-aided analysis and design methods. Time-consuming, expensive, and potentially risky experiments can thus be partially replaced. A central role in the design of a mechanical system is the investigation of its dynamic behavior, i.e. the interaction between forces and motions. The basis for the theoretical investigation of dynamic behavior is a suitable physical substitute model of the real system, adapted to the respective task. It must be so detailed that it captures the essential physical properties of the real system necessary for solving the respective task. At the same time, however, the effort for the usually computer-aided setup and solution of the descriptive mathematical model equations should remain low. Therefore, the following principle should apply in model building: As complex as necessary, as simple as possible.