The frequency domain linear analysis for a floating multi-body may be easily performed if the coefficients of the linear system are known (added mass, restoring and damping coefficients, including the couplings between different bodies + the excitation forces acting on bodies).

However, if the bodies are hinged and possess arm connection, a constraint appears in the form:

P(t)^2 + Q(t)^2 = L^2,

where P(t) = (x1, y1, z1)(t) and Q(t) = (x2, y2, z2)(t) are the hinge points locations at time t, and L is the length of arm (constant).

This is clearly a non-linear constraint. Now I am looking for papers that model multi-body dynamics with this kind of contraint, but also with non-holonomic constraints (with the form P(t)^2 + Q(t)^2 >= cte).

Any recommendations??