MESA VERDE — A General-purpose Program Package for Symbolical Dynamics Simulations of Multibody Systems. The purpose of this paper is to present the program package Mesa Verde for dynamics simulations of general multibody systems. The program name stands for “MEchanism, SAtellite, VEhicle and Robot Dynamics Equations”. Mesa Verde generates in symbolical form a minimal set of nonlinear differential equations for large motions as well as expressions for kinematical quantities and for constraint forces in joints. The program package is used by university institutions as well as by engineering consulting companies and by engineers in industry. It is commercially available at the third author’s address.