Related papers: On a paradox in the impact dynamics of smooth rigi…
We investigate the dynamics of finite degree-of-freedom, planar mechanical systems with multiple sliding, unilateral frictional point contacts. A complete classification of systems with 2 sliding contacts is given. The contact-mode based…
The 120-year old so-called Painleve paradox involves the loss of determinism in models of planar rigid bodies in point contact with a rigid surface, subject to Coulomb-like dry friction. The phenomenon occurs due to coupling between normal…
Dynamics simulation with frictional contacts is important for a wide range of applications, from cloth simulation to object manipulation. Recent methods using smoothed lagged friction forces have enabled robust and differentiable simulation…
Two-dimensional (planar) rigid-body impact mechanics for application in automobile collisions have been described by a number of researchers over the last several decades. Little has been discussed, however, regarding three-dimensional…
We present a principled method for dynamic simulation of rigid bodies in intermittent contact with each other where the contact is assumed to be a non-convex contact patch that can be modeled as a union of convex patches. The prevalent…
We consider the problem of a rigid body, subject to a unilateral constraint, in the presence of Coulomb friction. We regularize the problem by assuming compliance (with both stiffness and damping) at the point of contact, for a general…
We report a new theory of dissipative forces acting between colliding viscoelastic bodies. The impact velocity is assumed not to be large, to avoid plastic deformations and fragmentation at the impact. The bodies may be of an arbitrary…
The dynamic frictional force between solid surfaces in relative motion differs from the static force needed to initiate motion, but this distinction is not usually thought to occur for liquid drops moving on a solid. Recent experiments…
A hybrid formalism is proposed for interacting classical and quantum sytems. This formalism is mathematically consistent and reduces to standard classical and quantum mechanics in the case of no interaction. However, in the presence of…
I discuss the influence of adding the air resistance and the kinetic friction to the classical mechanics homework-problem: finding the motion of a body sliding down a hemispherical hill. For a physically realistic ($\propto v^2$) form of…
A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…
The static friction between crystalline surfaces separated by a molecularly thin layer of adsorbed molecules is calculated using molecular dynamics simulations. These molecules naturally lead to a finite static friction that is consistent…
We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…
A new apparent relativistic paradox is presented involving only one space-time event. This is different from earlier relativistic paradoxes involving extended bodies or events at different positions. A collision between a rod and a ring…
The dynamics of frictional interfaces play an important role in many physical systems spanning a broad range of scales. It is well-known that frictional interfaces separating two dissimilar materials couple interfacial slip and normal…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
Suppose a projectile collides perpendicularly with a stationary rigid rod on a smooth horizontal table. We show that, contrary to what one naturally expects, it is not always the case that the rod acquires maximum angular velocity when…
We introduce a model of friction between two contacting (stationary or co-sliding) rough surfaces, each comprising a random ensemble of polydisperse hemispherical bumps. In the simplest version of the model, the bumps experience on contact…
The transition from static to dynamic friction when an elastic body is slid over another is now known to result from the motion of interface rupture fronts. These fronts may be either crack-like or pulse-like, with the latter involving…
Collisions and impacts are the principal reasons for impulsive motions, which we frequently see in dynamic responses of systems. Precise modelling of impacts is a challenging problem due to the lack of the accurate and commonly accepted…