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Bei steifen, lokaler Kontakten, wie es in der Praxis gr\u00f6\u00dftenteils angenommen wird, mu\u00df man mit sehr gro\u00dfen Simulationszeiten und mit numerischem Drift rechnen, ebenso, wenn die Kontaktgesetze auf der Beschleunigungsebene formuliert werden. Sofern lokale Deformationen nicht von Interesse sind, kann man aber mit Hilfe einer halbimpliziten Euler-Diskretisierung die Bewegungsgleichungen an die Kontaktgesetze anpassen. F\u00fcr ebene, einseitige Bindungen f\u00fchrt dieser Formalismus zu einem linearen Komplementarit\u00e4tsproblem (LCP), das den Kern eines effizienten L\u00f6sungsalgorithmus [\\textit{C. E. Lemke}, Math. Program. Study 7, 15-35 (1978; Zbl 0381.90073)] bildet.NEWLINENEWLINENEWLINEDer gleiche Ansatz f\u00fchrt auch f\u00fcr inelastische St\u00f6\u00dfe zum Ziel und kann auf teilelastische Sto\u00dfauswertungen erweitert werden. 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