The time domain behavior of nonlinear dynamic systems often is obtained by numerical integration on the digital computer. These solutions are usually expensive and limit the scope of the dynamic study. The proposed improved technique results in a substantial increase in the computational efficiency by using automatic symbolic manipulation to generate explicit equations of motion algebraically prior to numerical integration. A model is presented which considers the effects of the presence of time-invariant and time-varying symbolic terms and of the sparsity of system elements to provide analytical guidelines for the use of this technique. A number of case studies including typical computational costs are presented.

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