A Newton method for rigid body frictional impact with multiple simultaneous impact points Original Research Article

In this paper a mathematical formulation and a numerical algorithm for the analysis of frictional impact of rigid bodies with multiple simultaneous contact points are developed. A direct approach is used where the impenetrability condition and Coulombʹs law of friction are formulated as equations, which are not differentiable in the usual sense, and solved together with the equations of motion and necessary kinematical relations using Newtonʹs method. An experiment has also been performed where a possible mechanism for the difference between static and dynamic friction is observed and results are compared with computations using the present algorithm.