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The MBS name is related to the structure of the mechanism, which is often considered to be a collection of bodies interconnected by mechanical joints (pairs). Nevertheless, only a few formulations are really based on a true multi-body mechanical model, while many others instantiate mathematically quite different mechanical concepts. This paper aims to identify and discuss the mechanical models that fundament the main multi-body mathematical formulations known in the literature. The main features of each model are outlined, based on a detailed presentation of the structure and equations of motion, together with their link with the kinematic and dynamic formulations. A comparative study related to computational efficiency is then presented for the identified main models, based on a test mechanism. Comparative advantages and disadvantages are discussed at the end, considering the identified mechanical models.<\/jats:p>","DOI":"10.1017\/s0263574721000345","type":"journal-article","created":{"date-parts":[[2021,6,16]],"date-time":"2021-06-16T09:24:50Z","timestamp":1623835490000},"page":"2333-2348","source":"Crossref","is-referenced-by-count":4,"title":["Computational efficiency of multi-body systems dynamic models"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0139-5425","authenticated-orcid":false,"given":"Cs.","family":"Antonya","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0496-3483","authenticated-orcid":false,"given":"R. 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