diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index ef3043d56..bec8c6530 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -898,7 +898,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 
 		// calculate zhat_i^A
 		//
-		if (isLinkAndAllAncestorsStaticOrKinematic(i))
+		if (isLinkAndAllAncestorsKinematic(i))
 		{
 			zeroAccSpatFrc[i].setZero();
 		}
@@ -967,7 +967,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 	// (part of TreeForwardDynamics in Mirtich.)
 	for (int i = num_links - 1; i >= 0; --i)
 	{
-		if(isLinkAndAllAncestorsStaticOrKinematic(i))
+		if(isLinkAndAllAncestorsKinematic(i))
 			continue;
 		const int parent = m_links[i].m_parent;
 		fromParent.m_rotMat = rot_from_parent[i + 1];
@@ -1115,7 +1115,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 
 		fromParent.transform(spatAcc[parent + 1], spatAcc[i + 1]);
 
-		if(!isLinkStaticOrKinematic(i))
+		if(!isLinkAndAllAncestorsKinematic(i))
 		{
 			for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
 			{
@@ -1487,7 +1487,7 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar
 	// (part of TreeForwardDynamics in Mirtich.)
 	for (int i = num_links - 1; i >= 0; --i)
 	{
-		if(isLinkStaticOrKinematic(i))
+		if(isLinkAndAllAncestorsKinematic(i))
 			continue;
 		const int parent = m_links[i].m_parent;
 		fromParent.m_rotMat = rot_from_parent[i + 1];
@@ -1545,7 +1545,7 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar
 	// now do the loop over the m_links
 	for (int i = 0; i < num_links; ++i)
 	{
-		if(isLinkStaticOrKinematic(i))
+		if(isLinkAndAllAncestorsKinematic(i))
 			continue;
 		const int parent = m_links[i].m_parent;
 		fromParent.m_rotMat = rot_from_parent[i + 1];
@@ -2420,6 +2420,20 @@ bool btMultiBody::isLinkStaticOrKinematic(const int i) const
 	return false;
 }
 
+bool btMultiBody::isLinkKinematic(const int i) const
+{
+	if (i == -1)
+	{
+		return isBaseKinematic();
+	}
+	else
+	{
+		if (m_links[i].m_collider)
+			return m_links[i].m_collider->isKinematic();
+	}
+	return false;
+}
+
 bool btMultiBody::isLinkAndAllAncestorsStaticOrKinematic(const int i) const
 {
 	int link = i;
@@ -2430,3 +2444,14 @@ bool btMultiBody::isLinkAndAllAncestorsStaticOrKinematic(const int i) const
 	}
 	return isBaseStaticOrKinematic();
 }
+
+bool btMultiBody::isLinkAndAllAncestorsKinematic(const int i) const
+{
+	int link = i;
+	while (link != -1) {
+		if (!isLinkKinematic(link))
+			return false;
+		link = m_links[link].m_parent;
+	}
+	return isBaseKinematic();
+}
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index 6d6ab2124..25112a680 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -720,8 +720,12 @@ public:
 
 	bool isLinkStaticOrKinematic(const int i) const;
 
+	bool isLinkKinematic(const int i) const;
+
 	bool isLinkAndAllAncestorsStaticOrKinematic(const int i) const;
 
+	bool isLinkAndAllAncestorsKinematic(const int i) const;
+
 private:
 	btMultiBody(const btMultiBody &);     // not implemented
 	void operator=(const btMultiBody &);  // not implemented
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h b/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
index e3d99f9c8..3dc35a581 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
@@ -135,6 +135,11 @@ public:
 		return isStaticOrKinematicObject();
 	}
 
+	bool isKinematic() const
+	{
+		return isKinematicObject();
+	}
+
 	void setDynamicType(int dynamicType)
 	{
 		int oldFlags = getCollisionFlags();