The systematic treatment of the dynamic behavior of interconnected bodies has led to a large number of important multibody formalisms in the field of mechanics. The simplest bodies or elements of a multibody system were treated by Newton (free particle) and Euler (rigid body). Euler introduced reaction forces between bodies. Later, a series of formalisms were derived, only to mention Lagrange ’s formalisms based on minimal coordinates and a second formulation that introduces constraints.