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An enhanced energy conserving time stepping algorithm for frictionless particle contacts

An Enhanced Energy Conserving Algorithm (EECA) formulation for time integration of frictionless contact–impact problems is presented. In it the energy, linear and angular momentum are conserved for every contact using an enhanced Penalty method. Previous formulations for these problems have shown that the total bodies' energy decreases for contact due to an artificial energy transfer between the penalty spring and the contacting bodies. Consequently, they are not able to reproduce a physical response after a single contact, introducing errors in trajectories and velocities.