Dynamics of rigid bodies undergoing multiple frictional contacts

Two key problem areas in the dynamics of rigid bodies with multiple frictional contacts are solved. First, the modeling of rigid body collisions is addressed. Second, an accurate model that will predict the contact forces is sought. The emphasis is on correct phenomenological and quantitative modeling. An approach to the simulation of mechanical systems with multiple, frictional constraints is proposed which is free of inconsistencies. This method is illustrated with the help of a simple planar example