Review Fundamentals of multibody dynamics Newton-Euler equation I;=-×工+n+nF mici=fh Rely on free-body diagram. Constraint force involved Compact form M t i=-WiMti+w+ Working Constraint rench Wrench M;三 IO|,wa≡oO o miReview • Fundamentals of Multibody Dynamics Newton-Euler Equation Rely on free-body diagram. Constraint force involved. Compact form: Working Wrench Constraint Wrench