Using the absolute Cartesian coordinates, derive the constraint equations of the revolute joint that connects two rigid bodies in the three-dimensional analysis. Define also the constraint Jacobian...

Using the absolute Cartesian coordinates, derive the constraint equations of the revolute joint that connects two rigid bodies in the three-dimensional analysis. Define also the constraint Jacobian matrix of this joint. Discuss the use of Euler angles and Euler parameters in formulating the revolute joint constraint equations.