IUTAM Symposium on Unilateral Multibody Contacts

Multibody dynamics started with the ideas of Jacob and Daniel Bernoul­ li and later on with d''Alembert''s principle. In establishing a solution for the problem of the center of oscillation for a two-mass-pendulum Jacob Ber­ noulli spoke about balancing the profit-and-Ioss account with respect to the motion of the two masses. Daniel Bernoulli extended these ideas to a chain pendulum and called for...