A Finite Element Method for Solving 2D Contact Problems with Coulomb   Friction and Bilateral Constraints
  Based on the plenty method, this paper describes a numerical method for 2D non-smooth contact problems with Coulomb friction and bilateral constraints and its application to the simulation of statics and dynamics for a frictional translational joint. Comparison is made with results obtained using a finite element program, ANSYS. 
Jie Zhang and Qi Wang
physics.comp-ph cond-mat.soft