This paper does not intend to explain Multibody system theory nor the basic application
of Matlab. A basic knowledge in these fields is assumed to be known. The paper also does
not explain the details of the mathematical derivations nor the Matlab code. It is assumed that the examples are self-explanatory if they are worked through. The paper keeps its focus on demonstrating the educational concept with some selected ’academic’ examples. They are chosen with the idea to be as simple as possible, but also able to show the capability of the proposed method. They are part of a complete Multibody Systems teaching concept for graduate students consisting of lectures with a script provided by the lecturer, homework problems giving an opportunity to practice theoretical skills and lab assignments based on the use of Matlab as shown in this paper (the knowledge of the Matlab programming language is a prerequisite for this class). Therefore students usually develop code on their own based on code examples demonstrating the basic concepts. These code examples also include a selection of library functions providing, for example, an animation function that can be used
to demonstrate the results with a small movie. Figure 1 shows some (animation-) examples that have been covered within this class.