Formulation and well-posedness of the dynamics of rigid-body systems with perfect unilateral constraints

Abstract

The classical theory of rigid-body systems dynamics with perfect bilateral constraints is extended in order to take perfect unilateral constraints into account. A systematic formulation of the dynamics is derived and the most general admissible form of the impact-constitutive equation is obtained. Well-posedness of the evolution problem is proved under the assumption that the data are analytic.