摘要: This chapter deals with the non-smoothmodeling ofmechanical systems. In Sect. 3.1 it is reviewed how a mechanical system subjected to bilateral constraints can be formulated as differential algebraic equation (DAE). The theory extended in 3.2 non-impulsive non-smooth motion, and discussed unilateral contacts, friction other interactions modeled by set-valued force laws. 3.3 impacts impulsive are added model stating impact equations Newton’s law. Both motion gathered together so-called equalities of measures, which 3.4. rigid multibody However, resulting much more general also used for non-rigid case.