Multibody systems generally contain solids the deformations of which are appreciable and which decisively influence the dynamics of the system. These solids have to be modeled by means of special formulations for flexible solids. At the same time, other solids are of such a high stiffness that they may be considered rigid, which simplifies their modeling. For these reasons, for a rigid-flexible multibody system, two types of formulations co-exist in the equations of the system. Among the different possibilities provided in bibliography on the material, the formulation in natural coordinates and the formulation in absolute nodal coordinates are utilized in this article to model the rigid and flexible solids, respectively. This article contains a mixed formulation based on the possibility of sharing coordinates between a rigid solid and a flexible solid. In addition, the fact that the matrix of the global mass of the system is shown to be constant and that many of the constraint equations obtained upon utilizing these formulations are linear and can be eliminated. In this work, the formulation presented is utilized to simulate a mechanism with both rigid and flexible components.

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