...Andreas Müller Geometric methods have become increasingly accepted in computational multibody system (MBS) dynamics. This includes the kinematic and dynamic modeling as well as the time integration of the equations of motion. In particular, the observation that rigid body motions form a Lie group...

... integration algorithms numerical precision Although the Runge–Kutta scheme, especially the fourth-order Runge–Kutta scheme, is one of the most widely used time integration algorithms and is often used to verify other integration schemes, caution must be used when it is applied to nonlinear systems...