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In previous papers, the author presented motion analysis methods of multibody systems. In the presented methods, the null space matrix for the constraint Jacobian is obtained by solving a differential equation, then the Lagrange multipliers are eliminated from the equation of motion with the obtained null space matrix.This enables us to perform efficient computation. The elimination of the Lagrange multipliers, however, may become drawback for analysis of constraint forces/moments since thedoi:10.1299/transjsme.19-00419 fatcat:2ahvlsfwajbydd2244xu23cyqi