Abstract
Energy-Momentum Conservation Algorithm is proposed to stabilize the time integral of equation of motion. This method has established already for no constraint motion. But application of this method to the constraint motion is still under discussion in literatures. In this paper, the authors propose a general energy-momentum conservation algorithm for the motion of flexible bodies under some typical geometrical constraints. We derive the incremental constraint matrix that guarantees the conservation of the energy, linear momentum, and angular momentum, and discuss the rule and importance of the B matrix
