Formulation of spatial contact situations in rigid multibody systems
The author presents an overview of formulations of unilateral contact problems for dynamical systems. With this background, the author then focuses upon developing a nonlinear conic Coulomb friction law for rolling/sliding contact. Linear formulations are also considered. The paper is theoretical and devoid of numerical procedures or applications. However, the overview and analysis presented should provide a basis for such developments, and thus the paper should be of interest and use to both theoreticians and numerical analysts.
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