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Based on a formalism to simulate mechanical rigid body systems with plane frictional contacts, an extension to systems with rolling contacts is proposed. A special focus is put on tagential contact compliance. A mathematical convergency proof of the solution of the tangential elastic formulation to the rigid one is proposed.

Kontaktmechaniknonholonomic --- Mehrkörperdynamik --- regularization --- nichtholonom --- multibody systems --- Zwangsbedingung --- contact mechanics --- Regularisierung --- constraints