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Sliding state stepping algorithm for solving impact problems of multi-rigid-body system with joint friction
YAO Wen-li;CHEN Bin;LIU Cai-shan;XU Jian
Applied Mathematics and Mechanics (English Edition) . 2007, (12): 1621 -1627 .  DOI: 10.1007/s10483-007-1209-x

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