Friction problems involving “dry” or “static” friction can be difficult to solve numerically due to the existence of discontinuities in the differential equations appearing in the right-hand side. Conventional methods only give first-order accuracy at best; some methods based on stiff solvers can obtain high order accuracy. The previous method of the author [16] is extended to deal with friction problems involving multiple contact surfaces.
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David E. Stewart (1996) studied this question.
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