Sun Dec 14, 2014 2:46 pm by f14-jwhendricks2

In this case jac, phi, nu, and gamma don't depend on time since there are no driving constraints. Phi and jac are functions of q (x1,y1,phi1,x2,etc...). Nu is just zeros in this case and gamma depends on q and qd (x1,y1,phi1,xD1,yD1,etc...).

Even though none of them are functions of time, they will still vary with time because the generalized positions and velocities (q and qd) will change at each time step in the N-R process. When you do the N-R process you're solving for qdd and then using those values to update q and qd using Newmark. You keep repeating until the correction is within the tolerance and then move to the next time step.

Does that make sense?

-Jake Hendrickson