Abstract
The existence and uniqueness of solutions to multivalued stochastic differential equations of the second order on Riemannian manifolds are proved. The class of problem is motivated by rigid body and multibody dynamics with friction and an application to the spherical pendulum with friction is presented. To cite this article: F. Bernardin et al., C. R. Acad. Sci. Paris, Ser. I 338 (2004).
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