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The discipline of linear graph theory, which has been applied extensively to the analysis of electrical networks, is now extended to encompass general three-dimensional isolated rigid-body systems. The graph-theoretic models of a rigid body and its relevant components are discussed elaborately to pave the way for further studies in multibody systems. Utilizing the analysis based on system topology, the mathematical model of a mechanical system is derived by means of a hybrid formulation in which Euler parameters (or normalized quaternions) are incorporated to define the orientations of rigid bodies. A single body system serves as an illustrative example.