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The object-oriented modeling language Dymola allows the physical modeling of large interconnected systems based on model components fromdifferent engineering domains. It generatessymbolic code for different target simulators. In this paper, a Dymola class library for the efficient generation of the equations of motion for multibody systems is presented. The library is based on aO(n) algorithm which is reformulated in an objectoriented way. This feature can also be interpreted as a bond graph oriented modeling of multibody systems. Furthermore a new algorithm for a certain class ofvariable structure multibody systems, such as systems with Coulomb friction, is presented, which allows the generation of efficient symbolic code.