Matrix formalism used to describe the inertial properties in multibody dynamics.

A matrix-based representation of the inertial characteristics with possible used in multibody dynamics is presented in the paper. The paper aims to develop a unitary formalism that will help to model multibody systems, for the purpose of kinematic and dynamic analysis. Properties of the inertia matrix due to the symmetry of this matrix are presented. The points with spherical and cylindrical symmetry are identified, which allow the easier writing of the equations of motion. The form of the inertia matrix from any body of a multibody system in the global reference system is shown. [ABSTRACT FROM AUTHOR]