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identify a new form of bifurcation -- the grazing bifurcation. This bifurcation arises when, under a change of parameters, the system evolves so that a smooth motion first starts to lose regularity. An example of this occurs when a freely oscillating cantilever beam is brought closer to an obstacle. At some point an impact will occur and, remarkably, this simple experiment often leads to complex chaotic motion. The grazing bifurcation describes a mechanism for this transition and may (possibly) account for many other examples of chaotic vibration observed in mechanical systems. The grazing bifurcation has now been observed in many non-smooth systems, and part of the purpose of this article is to motivate it and to describe some of the recent exciting mathematical results concerning it. We conclude with some open problems. 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