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In this paper two different methods for determination of frictionless joint reaction forces and moments are presented. The considered multibody system has an open kinematic chain structure. The first method refers to the determination of resultant joint reaction forces and moments based on the Rodrigues approach suitable for computation in a symbolic form. The second method presented is the method based on the so-called vectors of the body mass moments and vector rotators coupled for a pole and oriented axes. Both approaches are presented and discussed on the three- like rigid multibody system.

Determination of joint reactions in a rigid multibody system, two different approaches