The figure shows two rigid bodies connected by a frictionless spherical joint. Two body-fixed coordinate frames are shown. The spherical joint is at attachment point a on body 1 and attachment point b...

The figure shows two rigid bodies connected by a frictionless spherical joint. Two body-fixed coordinate frames are shown. The spherical joint is at attachment point a on body 1 and attachment point b on body 2. Using a shorthand notation similar to that of Figure 9.6, construct a bond graph model for this interaction, assign causality, and discuss the problems associated with deriving a computational model.