Abstract
Unilateral constraints form a vast class of restrictions which are met in mechanical engineering: it includes rigid obstacles, elastic dampers, tethers, supports, and so forth. From a physical point of view, any existing mechanical constraint is a combination of one-side ones. However, a favorite topic in text-books is the theory of (ideal) bilateral constraints, while very important in practice unilateral problems are considered in scientific journals only. The reason is a number of mathematical difficulties which are met in unilateral dynamics and which may be called discontinuities m one or another sense.
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