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Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. However, the dynamic coupling nature between the mobile base and the manipulator presents challenges for the physical interactive tasks of the mobile manipulator. Current methods suffer from complex modeling processes and poor transferability. To address this, this article presents a novel dynamic model of the manipulator on the mobile base that requires only the manipulator dynamics and the kinematic information of the mobile base. In addition, embedding the dynamic model, an uncertainty and disturbance estimator-based (UDE-based) dynamic motion/force control scheme is proposed for the mobile manipulator, which compensates for the dynamic coupling and other unmodeled uncertainties. Passivity and stability analyses justify the proposed control law. Simulation and experimental results on our mobile manipulator platform demonstrate the feasibility and effectiveness of our proposed methodology.