Abstract
Methods and identities for computation of kinematic and kinetic derivatives required for a broad spectrum of multibody system analyses are presented. Analyses such as implicit numerical integration of the differential–algebraic equations of multibody dynamics, dynamic sensitivity analysis, and workspace analysis are shown to require computation of three derivatives of algebraic constraint functions and first derivatives of inertia and force expressions. Computationally efficient derivative calculation methods and associated identities are presented for Cartesian generalized coordinates, with Euler parameters for orientation. Results presented enable practical and efficient computation of all derivatives required in multibody mechanical system analysis.