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In order to study dynamical behavior of mechanical systems with a finite number of degrees of freedom including nonsmooth terms (e.g., friction), we consider here problems governed by differential inclusions. To describe effects of particular constitutive laws, we add a delay term. In contrast to previous papers, we introduce delay via a Volterra kernel. We provide existence and uniqueness results by using an Euler implicit numerical scheme; then convergence with its order is established. 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