D N
E N
𝑭 i j N
𝒗 i ∈ ℝ 3
r i j
𝒏 i j ∈ ℝ 3
𝒙 i ∈ ℝ 3
k i j N
m i
𝑭 i j N = ( k i j N δ i j + d i j N δ ˙ i j ) 𝒏 i j δ i j = ⟨ 𝒙 i − 𝒙 j , 𝒏 i j ⟩ δ ˙ i j = ⟨ 𝒗 i − 𝒗 j , 𝒏 i j ⟩ r i j = ( r i + r j ) / 2 k i j N = E N π r i j / 2 d i j N = D N 2 k i j N m i j m i j = m i m j m i + m j 𝒏 i j = 𝒙 i − 𝒙 j ‖ 𝒙 i − 𝒙 j ‖
normal interaction force of two particles
force component acting normally at the contact interface between two particles