Kane’s dynamical equations are an efficient and widely used method for deriving the equations of motion for multibody systems. Despite their popularity, no publication has appeared which adapts them for use with port-based modelling tools such as bond graphs, linear graphs or port-Hamiltonian theory. In this paper, we present – for scleronomic systems – a momentum form of Kane’s equations, fully compatible with port-based modelling methods.

A momentum form of Kane’s equations for scleronomic systems