Consider a point moving with respect to a rigid body. The system made up of these two elements is deformable since the distance of the point and the body changes. Because the system is deformable, we define strain rates and interior forces. The latter are percussions and forces defined by their virtual work. The equations of motion are derived from the principle of virtual work. The constitutive laws for the interior percussions and forces are the other equations which describe the evolution of the system, in particular the collisions which occur between the point and the body. Examples illustrate the ability of the theory to analyse practical situations.
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