This paper presents a simple and systematic method of analysis for the kinematics and dynamics of spatial multi-loop mechanisms with closed and open kinematic chains. The Newton-Euler formulation is used to derive the dynamic equations of motion of each link. This formulation completely eliminates kinematic redundancies and singularities. Compliant joint models are introduced to cover real life effects such as joint clearances, lubrication of joints, joint to link compliances, etc. Direct computation of joint reaction forces results. An example of the application of the method to the dynamic and kinematic analysis of a 3 dimensional spatial slider-crank mechanism with a flywheel is presented.

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