On the differentiable null space method for differential algebraic equations

The topic of this thesis is a differentiable null space method for solving differential algebraic equations for multibody dynamics.; A large part of multibody dynamics relies on solving Differential-Algebraic Equations (DAE's). These equations occur in every mechanism. The field of DAE's is relatively recent and there are several aspects of their numerical treatment that need to be studied in more depth.; Many ODE numerical methods have been adapted to work for DAE's. There are methods developed specifically for DAE's. The focus of this work is on the derivative projection method using a time differentiable null space of the constraint manifold. There are two algorithms for obtaining a basis for the null space studied in this thesis: Gram-Schmidt orthogonalization and QR decomposition.