A rigid/flexible multi-link mechanism simulation methodology is discussed for off-highway machinery applications. This formulation combines nonlinear large displacement dynamics with elastic structural dynamics effects. The first part of the paper briefly discusses the mathematical formulation (i.e., the 4 x 4 transformation methodology) while the second part discusses the application of the methodology. The rigid/flexible multi-link simulation methodology is used to model the dynamic response of a stiffness-sensitive loader linkage. The simulation results for the loader model are compared with the results of finite element analysis (i.e., normal mode, harmonic force and linear transient analyses).