In this paper a methodology for formulating kinematic constraint equations and equations of motion for constrained mechanical systems is presented. Constraint equations and transformation matrices are expressed in terms of Euler parameters. The kinematic velocity and acceleration equations, and the equations of motion are expressed in terms of physical angular velocity of the bodies. An algorithm for solving the constrained equations of motion using a constraint stabilization technique is reviewed. Significant reduction in computation time can be achieved with this formulation and the accompanying algorithm as compared with the method presented in Part 1.

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