The partial angular velocities and partial linear velocities play a hndamental role ;
in forming Kane's equations of motion. The objective of this paper is to develop
an improved computational approach in order to simplify and solve Kane's
equations of motion for multibody systems. This can be achieved by obtaining
an optimal set of generalized speeds which are first randomly selected. They
could be chosen as a set of angular velocities and linear velocities or simply a
set of independent joint velocities. The proposed methodbas shown that Kane's
method can be modified and leads to an optimal set, of generalized speeds,
which leads to simpler equations of motion. An application is adopted to
illustrate the proposed approach.