Holonomic Planar Multibody Systems

In accordance with the procedures for point mass systems, the equations of motion for planar multibody systems with holonomic constraints are developed. Compared to spatial multibody systems, only rotations around axes perpendicular to the plane of motion occur which simplifies the formulations. The implicit and explicit formulations of the constraints are extended to include the rotations. The linear momentum laws in the plane are supplemented by the scalar angular momentum law with applied torques and constraint torques. The equations of motion for planar multibody systems in absolute coordinates and in minimal coordinates are derived and demonstrated with examples.