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dc.contributor.authorGoyal, Sureshen_US
dc.contributor.authorRuina, Andyen_US
dc.contributor.authorPapadopoulos, Jimen_US
dc.description.abstractWe present two geometric descriptions of the net frictional force and moment between a rigid body and a planar surface on which it slides. The limit surface LS, from classical plasticity theory, is the surface in load space which bounds the set of all possible frictional forces and moments that can be sustained by the frictional interface. Zhukovskii's moment function is the net frictional moment about the body's instantaneous center of rotation (COR) as a function of its location. Both of these descriptions implicitly contain the full relation between slip motion and frictional load. While Zhukovskii's moment function applies only to ordinary isotropic Coulomb friction, the limit surface applies to a wider class of friction laws that includes, for example, contact mediated by massless rigid wheels. Both the limit surface and the moment function can be used to deduce results concerning the motion of sliding rigid bodies.en_US
dc.format.extent2173286 bytes
dc.format.extent629851 bytes
dc.publisherCornell Universityen_US
dc.subjectcomputer scienceen_US
dc.subjecttechnical reporten_US
dc.titlePlanar Sliding With Dry Friction 1: Limit Surface and Moment Functionen_US
dc.typetechnical reporten_US

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