A set-valued force law for spatial Coulomb-Contensou friction

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Modeling and analysis of rigid multibody systems with translational clearance joints based on the nonsmooth dynamics approach (2010, background): “(18), the dynamic equations of motion of a rigid multibody system with normal and tangential contact forces can, for non-impulsive motion, be written on the acceleration level as [19, 23] M P u h WN N WT T D 0 a:e: (20) P q D u 8t (21)”
Application of the nonsmooth dynamics approach to model and analysis of the contact-impact events in cam-follower systems (2012, methodology): “This research was conducted during a post-doctoral stay of the first author with Professor Christoph Glocker at the Center of Mechanics, ETH Zurich.”
A survey and comparison of several friction force models for dynamic analysis of multibody mechanical systems (2016, background): “This phenomenon is most noticeable when the resistant torque is most responsible for the motion of the system, as in the Tippe Top [59,61] or the Celtic Stone [65,66].”