Force-Displacement Law
The contact-model formulation provides a force-displacement law relating the generalized internal force to the relative motion at the contact. The internal force and moment (\(\mathbf{F_c}\) and \(\mathbf{M_c}\)) act at the contact location in an equal and opposite sense on the two pieces (see Figure 1). The formulation is expressed in terms of a set of internal parameters, most of which are associated with rheological components (see Figure 2).
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