This paper deals with the sliding-contact constraint equationsdescribing the relative motion of two freeform surfaces, assumingthat the surfaces can have arbitrary curvature in three-dimensional space. Thesliding-contact equations are developed either for thenon-penetration condition and for the surface-tangency condition.Both are differentiated twice in time in order to allow astraightforward application to dynamic and kinematic multibodysimulation within the context of an augmented Lagrangian approach.This formulation represents the contact constraint by means of asliding tangent plane, hence exploiting the advantageousoptimizations of the so called lock formulation.
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