Abstract
The problem of the dynamics of a rigid body in the form of a parallelepiped on a plane in the presence of two-dimensional dry friction (generalized model of dry friction Coulomb-Contensou [1]) is considered. Since in this model of friction there are no discontinuities of the first kind in velocity, the problem is mathematically simpler than problems with one-dimensional (according to Coulomb) dry friction. In this example, increasing the dimensions leads to the regularization of the problem.
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