The notation defined below is a partial list of the notation used throughout the manual. Due to the wide variety of topics covered in this manual, some exceptions will exist.

Figure 1.1: General terms

Term	Meaning
	Position vector
	Orientation matrix
	Euler angles or Residual vector
	Translational velocity
	Angular velocity
	Translational Acceleration
	Angular Acceleration
	Generalized coordinate or nodal displacement
	Forces
	Generalized forces
	Mass matrix
	Jacobian matrix or mass moment of inertia matrix
	Identity matrix
	Mass
	Area moment of inertia
	Mass moment of inertia

Below is a partial list of superscripts and subscripts.

Figure 1.2: Superscripts and subscripts

Term	Meaning
	ith or action (target)
	jth or base (reference)
	Moving reference frame
	Initial state
	Element or Elastic
	Translational
	Rotational
	Point or Plastic

If vectors or matrices are distinguished by whether they have a prime (') as a superscript or not, those without a prime are defined with respect to the inertial reference frame, while those with a prime are defined with respect to the local reference frame.