Reconfiguration of a mobile manipulator is undertaken in this work. A three wheeled omnidirectional mobile robot mounted with a five degree of freedom manipulator has been considered. The bond graph model of the mobile manipulator is developed using the obtained kinematic relations. The end-effector of the manipulator has to track a given reference trajectory, assuming the trajectory is in the workspace of the manipulator. A conventional PID control is applied to ensure that the end-effector to follows the reference trajectory. Subsequently, the reconfiguration methodology of simultaneous actuation of mobile base and manipulator has been proposed when one of the joint actuator of the manipulator was failed.