Before revision:  The resulting algorithms can be executed purely numerically, without requiring any partial derivatives that would be required in symbolic techniques that do not scale. Properties of the presented algorithms share recursive structure in common with classical methods such as the Composite-Rigid-Body Algorithm .
After revision:  The resulting algorithms can be executed purely numerically, without requiring partial derivatives as in unscalable symbolic techniques. The computations share a recursive structure in common with classical methods such as the Composite-Rigid-Body Algorithm .