The purpose of this study is to develope a program for the automated symbolic derivation of dynamic equations of motion of a multibody system. Based on the use of homogeneous transformation matrices and Kane's method, the program in symbolic algebra program language MACSYMA is applied to both open and closed loop mechanisms having commonly used surfaced contacted joint pairs. The system produces a system of dynamic equations of motion in the form of differential equations with no algebraic equation. The multibody system may have any number of degrees of freedom with holonomic or simple nonholonomic constraints. Some examples of multibody are treated with this algorithms and its results has been compared these of DADS. The merits of derivation of dynamic equations of motion into symbolic form are presented. Suggestions are also given for minimizing the runtime. Equations of motion can be transferred to FORTRAN format for later numerical simulations and terms are separated into individual force components including inertia, centrifugal, Coriolis, and applied external forces.
