The methodological structure of the equations of motion of the multibody system allows the incorporation of the equilibrium equations associated to a large number of disciplines, and their solution.In multibody dynamics methods body fixed coordinate frames are adopted to position each one of the system components and to allow for the specification of the kinematic constraints that represent the restrictions on their relative motion [1].Several formalisms suggest the use of different sets of coordinates, such as Cartesian, natural and relative coordinates [2,3].Due to their ease of computational implementation, their physical meaning and the wide spread knowledge of their features all the formalisms presented in this work are based on the use of Cartesian coordinates [1].