Investigations into the dynamics of a system of rigid bodies require the
formulation of nonlinear equations of motion, of energy expressions,
kinematic relationships, and other quantities. It is common practice to
develop these for each system separately and to consider the labor
necessary for deriving e.g., equations of motion from Lagrange's
equation, as inevitable. It is the main purpose of this book to describe
in detail a formalism which substantially simplifies these tasks. The
book addresses advanced graduate students and scientists.