Abstract
The dynamics of a mechanical system are governed by differential and algebraic (constraint) equations. If these DAE's are reduced by coordinate partitioning to a system of first order differential equations for the independent unknowns, then numerical methods for equations in explicit form can be used to compute the solution. We have developed techniques for the evaluation of the sparse Jacobian matrices for solving the partitioned equations with integrators based on backward differentiation formulas, an important method for the simulation of the inherently stiff mechanical systems.
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