A different way to come up with the higher-order analyses equations derived by Duffy, Rico and Gallardo is shown.
The method allows comparing the equations derived by Duffy, Rico and Gallardo with those derived by Lerbet, showing that they are equivalent.
A more compact notation for the higher order kinematic analyses is developed.
The method allows to show that the equations derived by Duffy, Rico and Gallardo are equivalent to those derived by Lerbet.
The equations obtained can be applied to both open and closed kinematic chains.