Contact mechanics in multibody systems (Q1294725)

The author discusses the title problem by modeling the contact forces as constraint forces. Various possibilities of constraints and releases are then formulated into a set of governing equations, which in turn are implemented in a computer program SIMPACK. Applications to docking space craft and to a robot and effector are presented. The paper is reasonably well written and should be accessible and of use to researchers working in software development, and in the general analysis of multibody systems.