Balljoint(sphericaljoint)constraintexpression:apointfixedonbodyBmustbeatthesamelocationin

inertialspaceasapointfixedonbodyC:

pBC pCB

C

rB rC

Invectornotation,thisis or 0.FortheUdwadia
Kalabaformoftheconstraint,weneedtotaketwoderivativesofthisexpression.Thefirstderivative(in
theNframe)is:

SincepBCandpCBarefixedintheframesBandC,respectively,

Thesecondderivative(intheNframe)is:

Nowweneedtogetthingsintheform .TheQuIRKstatevectorconsistsofthecenterofmass
positionforeachbodyandthequaternionrotationfromthebodytoinertialframe.

Exploitingtherelations and ,


0

NowwecasteveryvectorontotheNbasisvectors:

Asuperscriptrepresentstheskewsymmetriccrossproductmatrixformofavector,and isthe
directioncosinematrixthattransformsavectorfromtheBbasistotheNbasiscoordinates.

Nowweinserttheidentities and alongwiththeirderivatives:

Finally,werearrangetermssothatthoseinvolvingthesecondderivativesofstatesareisolatedonone
sideoftheexpression:

Nowwehavethe314and31matrices: