Abstract
We consider a discrete mechanical system with a nontrivial inertia operator subjected to a unilateral constraint with soft and frictional contact. Its dynamics is described in generalized coordinates by a measure-differential inclusion generalizing the usual formulation of Coulomb's friction law. An existence result for this problem is established. The key tool is the study of a time-stepping algorithm which allows one to construct a sequence of approximate trajectories, reproducing at the discrete level the main features of Coulomb's law.
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