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Incremental friction problems for continuous elastic bodies with discretized contact

We examine the existence of solutions to incremental friction problems for a continuous elastic object in contact with obstacles. The contact is modelled by a modified Signorini impenetrability contact condition. In particular, we consider the case when the boundary conditions of the object permit the object to perform rigid body motions. This means that the friction forces have to balance the applied forces if the object is to remain stationary. The main result is friction dependent conditions on the applied force that is sufficient for the existence of solutions to the incremental friction problem.