The aim of the study is to take in interest in the dynamic behaviour of rigid body systems in unilateral contact with friction. The friction law is the law of Coulomb. Which are the parameters which determine the transition between a smooth motion and a motion with collisions ? In order to obtain some elements of answer, we study a simple system with two degrees of freedom. The system may be seen as a model of an elastic rod drawn on the ground. It results from our study that bounces occur if the friction coefficient is greater than a critical value.
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