Abstract
A new method is presented on the dynamics of multibody systems subject to a combination of bilateral constraints and a unilateral constraint, related to a frictional impact. The analysis is performed by using concepts of Analytical Dynamics and differential geometry. This sets a strong foundation for applying Newton’s law of motion and leads to an illuminating description of the dynamics. Using the unilateral constraint, a boundary is first defined on the original configuration manifold, surrounding a subspace of possible motions. Then, the emphasis is shifted on the dynamic action within the boundary layer. A set of numerical results is also presented, which is obtained for two characteristic examples.
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