The paper presents the Euler Newton formulation of oscillatory behaviour of a multi-body system interconnected by discrete stiffness elements. The dynamical system is treated as geometrically and materially linear, where assembly of the global stiffness matrix may be achieved. The formulation is extended to incorporate flexible shafting systems. It is assumed that flexible shafts are connected to rigid bodies of finite size and the connection is assumed to be built-in or pin jointed. Flexible shafting system is formulated using beam finite element formulation.

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