On the modeling of friction and rolling in flexible multi-body systems (Q1975650)

The author uses a continuous friction law to model the interaction between contacting bodies. ``Continuous friction'' provides for simpler numerical procedures than those encountered using the Coulomb friction law. Specifically, sharp transitions between rolling and sliding are avoided by using continuous friction, thus eliminating the need for two sets of governing equations (one for rolling and one for sliding). Several examples are discussed.