Extrapolation integrators for constrained multibody systems

Abstract Extrapolation methods using the structure in the equations of motion of multibody systems are given in this article. The methods are explicit in the differential part and implicit in the nonlinear constraints. They admit a robust formulation in which only linear systems of equations are solved most of the time. Related methods, which are linearly implicit also in the differential part, are developed for stiff mechanical systems. Numerical results for the extrapolation code MEXX are included.

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