<s>
Featherstone	B-Algorithm
's	I-Algorithm
algorithm	I-Algorithm
is	O
a	O
technique	O
used	O
for	O
computing	O
the	O
effects	O
of	O
forces	O
applied	O
to	O
a	O
structure	O
of	O
joints	O
and	O
links	O
(	O
an	O
"	O
open	O
kinematic	B-Application
chain	I-Application
"	O
)	O
such	O
as	O
a	O
skeleton	B-Application
used	O
in	O
ragdoll	O
physics	O
.	O
</s>
<s>
The	O
Featherstone	B-Algorithm
's	I-Algorithm
algorithm	I-Algorithm
uses	O
a	O
reduced	O
coordinate	O
representation	O
.	O
</s>
