This paper addresses the formulation and discrete approximation of dynamic contact/impact initial‐value problems. The continuous problem is presented in the context of non‐linear kinematics. Standard semi‐discrete time integrators are introduced and are shown to be unsuccessful in modelling the kinematic constraints imposed on the interacting bodies during persistent contact. A procedure that bypasses the aforementioned difficulty is proposed by means of a novel variational formulation. Numerical simulations are conducted and the results are reported and discussed.
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Taylor et al. (1993) studied this question.
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