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...C siam review societyfor industrial and applied mathematics vol no pp rigid body dynamics with friction impact david e stewart abstract unilateral contact is a good approximation for wide range of everyday phenomena from the operation car brakes to walking rock slides it also vital importance simulating robots virtual reality realistic animation however correctly modeling dicult due number dis continuities in behavior bodies discontinuities inherent coulomb law this particularly crucial handling situations large coecients which can result paradoxical results known at least since painlev single example has been counterexample cause controversy ever only recently have there rigorous mathematical that show existence solutions his new developments come several sources sweeping processes measure dierential inclusions moreau s variational inequality approaches duvaut j l lions use complementarity problems formulate frictional by lotstedt early wasn t until much more these tools were nally ab...