“…(9) with these known Lagrange multipliers and contact positions. In this work, the one step method is employed for the time integration, and hence the complicated discontinuous motion due to the impacts between the track and the road wheels, and between the track and the ground may be efficiently computed (e. g., Addison, Enright, Gaffney, Gladwell, and Hanson (1991), and Cash and Karp (1990». For the dynamic analysis of the multibodies, besides holonomic constraint Eq. (1), the following differential constraints should also be satisfied on the kinematic joints:…”