Berger, ThomasThomasBergerHochdahl, René ChristopherRené ChristopherHochdahlReis, TimoTimoReisSeifried, RobertRobertSeifried2025-10-222025-10-222025-09-17Nonlinear Dynamics 113: 32037-32058 (2025)https://hdl.handle.net/11420/57792We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as well as gyroscopic effects. The resulting equations take the form of nonlinear differential-algebraic equations that inherently preserve an energy balance. We show that the proposed class is closed under interconnection, and we provide several examples to illustrate the theory.en1573-269X20253203732058Springerhttps://creativecommons.org/licenses/by/4.0/Differential-algebraic equationsDirac structuresLagrangian submanifoldsMultibody systemsPort-Hamiltonian systemsPosition and velocity constraintsResistive relationsNatural Sciences and Mathematics::510: MathematicsJournal Articlehttps://doi.org/10.15480/882.1595110.1007/s11071-025-11776-y10.15480/882.15951Journal Article