Hamilton's principle as variational inequality for mechanical systems with impact (Q1049609)

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Hamilton's principle as variational inequality for mechanical systems with impact
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    Hamilton's principle as variational inequality for mechanical systems with impact (English)
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    13 January 2010
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    unilateral constraint
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    principle of d'Alembert-Lagrange
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    Weierstrass-Erdmann corner conditions
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    non-smooth dynamics
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    contact
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