Abstract
In general, a multiarticulated vehicle model is one having multiple bodies, with each body being supported on a suspension represented by tyres, springs, and damping devices. The components of rigid body motion contain displacements, velocities, and accelerations at the body center of mass. This paper describes how to derive the motion equations by using Lagrange's method in which Euler's equation provides a basic equation to express the kinematics of a multibody system in a three dimensional frame. Mathematical, symbolic, and numerical analysis techniques were implemented effectively. The analysis emphasizes the x-y system representing the rearward amplification problem or any loss of vehicle stability, created by small perturbations