Description of the constraint Inertial frame O-e Body-fixed frame of B C 4=p)' Pointo sosy) Body-fixed frame of B,C,- 4,-g,)r Point p 5s=(kPyP）y Point P and Q coincide 9-=0r9-r=07+s9-1-s=0 def 鸿=+9 D》=r+A,s9-r-As”=0 =+,”• Description of the constraint Bj y  x  O j x  j y  Cj j r  Q Q j r Q j s e  Inertial frame O  C j j e  Body-fixed frame of Bj    T T j j  j q  r Point Q Q j s   Q T j Q j Q j s  x  y  Point P and Q coincide def ( , )  r i j Φ P i s   T T i i i q  r Point P P i s   T P i P i P i s  x  y  i x  i y  Ci P ir Q j j Q j r r s      P i i P ir r s      0      P i Q j r r P i i i Q j j j r  A s  r  A s  0 Bi i r   0 P i Q j r r     0 P i i Q j j r s r s Ci i e  Body-fixed frame of Bi  P