Thisbook analyzes several compliant contact force models within the context ofmultibody dynamics, while also revisiting the main issues associated withfundamental contact mechanics. In particular, it presents various contact forcemodels, from linear to nonlinear, from purely elastic to dissipative, anddescribes their parameters. Addressing the different numerical methods andalgorithms for contact problems in multibody systems, the book describes thegross motion of multibody systems by using a two-dimensional formulation basedon the absolute coordinates and employs different contact models to representcontact-impact events. Results for selected planar multibody mechanical systemsare presented and utilized to discuss the main assumptions and proceduresadopted throughout this work. The material provided here indicates that theprediction of the dynamic behavior of mechanical systems involvingcontact-impact strongly depends on the choice of contact force model. In shortthe book provides a comprehensive resource for the multibody dynamics communityand beyond on modeling contact forces and the dynamics of mechanical systemsundergoing contact-impact events.

1. Introduction,- 2. Pure Elastic Contact ForceModels.- 3. Dissipative Contact Force Models.- 4. Multibody SystemsFormulation.- 5. Numerical Methods in Multibody Systems.- 6.Demonstrative Examples of Application.