@article{Tuan_Chung_Khoa_Phong_2019, title={Kinematic and dynamic analysis of multibody systems using the Kronecker product}, volume={57}, url={https://vjs.ac.vn/index.php/jst/article/view/12285}, DOI={10.15625/2525-2518/57/1/12285}, abstractNote={<p>This paper employ Khang’s definition of the partial derivative of a matrix with respect to a vector and the Kronecker product to define translational and rotational Hessian matrices. With these definitions, the generalized velocities in the expression of a linear acceleration or an angular acceleration are collected into a quadratic term. The relations of Jacobian and Hessian matrices in relative motion are then established. A new matrix form of Lagrange’s equations showing clearly the quadratic term of generalized velocities is also introduced.</p>}, number={1}, journal={Vietnam Journal of Science and Technology}, author={Tuan, Nguyen Thai Minh and Chung, Pham Thanh and Khoa, Do Dang and Phong, Phan Dang}, year={2019}, month={Feb.}, pages={112–127} }