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Rough Collisions with Finite Tangential Stiffness
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3 1 2
R
R
2=2
s
L
3
s
L
1 L
1 3 1=1 2
B B
B
1
B
vt dt
2
C
0
C C
0,1,2
3
4
3
B
4
Ft
E n
2
n
D G F
3
n
C
1
n
B A 1
t
2
t
3
t t
3 1 2
R
R
2=2
s
L
3
s
L
1 L
1 3 1=1 2
2=2
2 1’ 1
2’
3 1=1 3
3 = 3’
3 1 2
R
R
2=2
s
L
3
s
L
1 L
1 3 1=1 2
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