The approach to the Multibody subject in literature is manifold and varies in structure
and notation. The concept used here is derived from1,2,3 and may easily be adapted to
alternative concepts. Also the profitable use of numerical tools like Matlab in engineering education is well known and many different proposals have been widely discussed in a high number of publications for lots of different fields of engineering activity. However, useful combinations of symbolical and numerical tools for engineering applications seem not yet to be so much accepted. The idea of combining both in Matlab for dynamics is taken from4, the special focus on Multibody Systems shown here seems to be not yet available in engineering education literature.