This document summarizes a research paper that presents a dynamic modeling technique for flexible link manipulators using finite element methods and rigid link theory. The technique discretizes flexible links into small rigid link elements to simplify the complex dynamics calculations. First, common dynamic modeling approaches for both rigid and flexible link manipulators are described. These include Newton-Euler, Lagrange-Euler, and assumed mode methods. The proposed approach applies Lagrange-Euler dynamics to each discretized link element. An example dynamic model is then presented for a 3 link manipulator to demonstrate the approach. The model derives kinetic energy expressions for each link and determines the overall Lagrangian to obtain the dynamic equations of motion.