This book analyzes several
compliant contact force models within the context of multibody dynamics, while
also revisiting the main issues associated with fundamental contact mechanics.
In particular, it presents various contact force models, from linear to
nonlinear, from purely elastic to dissipative, and describes their parameters.
Addressing the different numerical methods and algorithms for contact problems
in multibody systems, the book describes the gross motion of multibody systems
by using a two-dimensional formulation based on the absolute coordinates and
employs different contact models to represent contact-impact events. Results
for selected planar multibody mechanical systems are presented and utilized to
discuss the main assumptions and procedures adopted throughout this work. The
material provided here indicates that the prediction of the dynamic behavior of
mechanical systems involving contact-impact strongly depends on the choice of
contact force model. In short, the book provides a comprehensive resource for
the multibody dynamics community and beyond on modeling contact forces and the
dynamics of mechanical systems undergoing contact-impact events.

1. Introduction,- 2. Pure Elastic Contact Force
Models.- 3. Dissipative Contact Force Models.- 4. Multibody Systems
Formulation.- 5. Numerical Methods in Multibody Systems.- 6.
Demonstrative Examples of Application.