Dynamics of Rigid Bodies Systems with Unilateral or Frictional Constraints

Formulation And Well-Posedness
  • Patrick Ballard
Part of the Advances in Mechanics and Mathematics book series (AMMA, volume 1)


The classical theory of rigid bodies systems dynamics is extended into two directions. First, systematic formulation of the dynamics of systems undergoing perfect unilateral constraints is derived. The general admissible form of the impact constitutive equation is obtained. Well-posedness of the evolution problem is proved under the assumption that the data are analytic. Second, systematic formulation of systems undergoing frictional bilateral constraints is discussed. Well-posedness of the associated evolution problem is also demonstrated.


Analytical Dynamics Non-smooth Mechanics Impact Friction 


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Copyright information

© Springer Science+Business Media Dordrecht 2002

Authors and Affiliations

  • Patrick Ballard
    • 1
  1. 1.Laboratoire de Mécanique des SolidesEcole PolytechniquePalaiseau CédexFrance

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