This chapter introduces the fundamental concepts of kinematics and dynamics in multibody dynamics systems. Kinematics describes motion - such as position, velocity, and acceleration - without considering the forces or inertia that cause it, while dynamics focuses on the forces and moments that drive or result from motion. The chapter begins by establishing coordinate systems as the basis for defining position, orientation, and motion constraints. It then explains generalized coordinates, which translate physical motion into computable models. Euler angles are introduced to illustrate how body orientation is represented in kinematic analysis.
Subsequent sections explore the dynamics of motion, presenting the derivation of equations of motion for both particles and rigid bodies. This includes an examination of generalized forces and their impact on system behavior, as well as the role of constraints in limiting or guiding motion. The chapter concludes with an overview of numerical methods for solving these equations, specifically focusing on time integration techniques. These foundational elements are critical for understanding the complexities of simulating dynamic systems and provide the groundwork for more advanced topics in multibody dynamics analysis.