Nonsmooth Lagrangian Mechanics and Variational Collision Integrators

Razvan C. Fetecau, Jerrold E. Marsden, Michael Ortiz, Matthew West 0001. Nonsmooth Lagrangian Mechanics and Variational Collision Integrators. SIAM J. Applied Dynamical Systems, 2(3):381-416, 2003. [doi]

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