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A Time‐Stepping Algorithm for Stiff Mechanical Systems with Unilateral Constraints

This paper presents a stable implicit first order time‐stepping method for the simulation of stiff mechanical systems with unilateral constraints and Coulomb friction. It ensures that the unilateral constraints are fulfilled directly on the displacement level. The resulting linear complementarity problem is formulated in a very compact nonstandard way. A modified form of Lemke's algorithm is presented to solve it.