Open Access

ARTICLE

Non-Linear Rigid Body Dynamics: Energy and Momentum Conserving Algorithm

Fernando A. Rochinha¹, Rubens Sampaio²

1 Mechanical Engineering Department, EE-COPPE-UFRJ Cx. Postal 68503; 21945-970, Rio de Janeiro, RJ; Brazil
2 Mechanical Engineering Department– PUC-Rio Rua Marquês de São Vicente, 225; 22453-900, Rio de Janeiro, RJ; Brazil