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This paper develops a unified framework to study the dynamics of tensegrity systems with any arbitrary rigid bodies and rigid bars. The natural coordinates are adopted as a completely non-minimal modeling approach to describe both rigid bodies and rigid bars in terms of different combinations of basic points and base vectors. Various coordinate combinations are then unified into polymorphic expressions that succinctly encompass Class-1-to-k tensegrities. Then, the Lagrange-d'Alembert principlearXiv:2206.06221v2 fatcat:xct4kj637fgyvo4qbgnekgx224